无人直升机系统CAN总线应用层协议设计

为了将CAN(Controller Area Network)总线应用于无人直升机系统,设计一种具有通用性的CAN应用层协议.针对CANaerospace V1.7版协议在无人直升机系统应用的数据定义、测控带宽等问题进行改进.重新设计定义了基本帧格式和数据标识号,提出一种适用无人直升机系统应用的CANauh协议.为了对CANauh协议进行验证,以一种基于CAN总线的无人直升机航空电子系统为对象进行CAN总线数据内容、调度表、总线负载的设计和CA-Noe数字仿真.CANauh协议在10 ms基本周期的总线负载为40.83%,数据可扩展定义空间为67.4%,测控系统带宽具有66.7%的占空比,满足无人直升机系统的指标要求.CANauh协议可以促进CAN总线在无人直升机系统中的应用,避免重复性设计,增加各个系统间的互操作性,降低开发维护成本.

基于径向基函数神经网络的无人直升机吊装系统滑模减摆控制

针对存在非线性、强耦合、外部未知有界干扰和建模不确定性的平面运动下无人直升机吊装系统,研究了一种基于径向基函数神经网络(radial basis function neural networks,RBFNNs)和干扰观测器的无人直升机吊装系统滑模减摆控制方法。首先将系统模型转换成仿射非线性形式,利用RBFNNs逼近系统不确定性,设计干扰观测器估计神经网络逼近误差与外界未知有界干扰的复合值。然后基于RBFNNs和干扰观测器设计了滑模减摆控制器,并用Lyapunov方法证明闭环系统稳定性;最后通过仿真验证了所设计控制器的有效性。

基于混沌与DFT对无人机控制不稳定性的研究

针对无人机的飞行安全这一典型的系统工程问题,从目前国际惯用的非线性控制和辨识建模的角度出发,通过建立波动信息能量函数模型并结合模糊评价理论,量化分析了DFT变换对无人机系统建模和控制的不稳定性影响;通过对无人机非线性运动模型的分析,说明了该模型中各参数的不稳定关系和不稳定特征,提出了符合Shilnikov定理的三阶非线性模型;通过构造综合影响函数和进行参数配置,确定了无人机非线性运动模型的若干鞍焦点和异宿轨道,从而找到了该系统的若干混沌运动轨道.最后通过仿真证明了直升机非线性运动模型的混沌运动特征和运用DFT辨识模型进行控制的条件下出现无人机不稳定性现象,说明了无人机非线性运动模型混沌运动的存在性及DFT变换中的高阶能量损失和参数配置方式的共同作用模式可构成无人机系统不稳定性的条件.

无人直升机主减中两级变速齿轮传动构型方案概述

无人直升机为了实现经济性巡航,需要改变主旋翼转速。目前,改变主旋翼转速,实现大调速范围和成本低的最有效方法为主传动系统采用变速齿轮传动。因此,针对起飞和巡航时无人直升机主旋翼的转速差异,国外已开展无人直升机两级变速传动系统的研究和应用。本文根据有限的国外文献资料,对无人直升机两级变速齿轮传动构型进行整理,以期促进我国无人直升机变速传动机构的发展。

Robust Anti⁃swing Control for Unmanned Helicopter Slung⁃Load System with Prescribed Performance

A robust anti-swing control method based on the error transformation function is proposed,and the problem is handled for the unmanned helicopter slung-load system(HSLS)deviating from the equilibrium state due to the disturbances in the lifting process.First,the nonlinear model of unmanned HSLS is established.Second,the errors of swing angles are constructed by using the two ideal swing angle values and the actual swing angle values for the unmanned HSLS under flat flight,and the error transformation functions are investigated to guarantee that the errors of swing angles satisfy the prescribed performance.Third,the nonlinear disturbance observers are introduced to estimate the bounded disturbances,and the robust controllers of the unmanned HSLS,the velocity and the attitude subsystems are designed based on the prescribed performance method,the output of disturbance observer and the sliding mode backstepping strategy,respectively.Fourth,the Lyapunov function is developed to prove the stability of the closed-loop system.Finally,the simulation studies are shown to demonstrate the effectiveness of the control strategy.

Research on the Unmanned Aerial Vehicle Adaptive Control System based on Fuzzy Control and Chaos Mechanics

In this paper, we conduct research on the unmanned aerial vehicle adaptive control system based on fuzzy control and chaosmechanics. Four rotor aircraft is a kind of nonlinear systems with underactuated, strong coupling characteristic. Although in existing research,through the design of the control algorithm effectively inhibits both for fl ight control effect, but not fundamentally eliminate the effect of aircraft.Dynamic model of unmanned helicopter fl ight control system design is very approximate, need to gradually improve the modeling accuracy, soas to get the exact autonomous fl ight control, so you need to practice constantly required to modeling in the fl ight information, so the unmannedhelicopter fl ight control system to have the ability to retrieve information modeling. This paper proposes the new idea on the issues that will bemeaningful.