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通常是在欧拉坐标系中描述飞机的运动方程,但是当飞机做大幅度的姿态运动时,运动方程的解会出现奇异性。根据某飞翼布局无人机的特点,本文首先建立了基于四元数法的六自由度飞行力学模型。在操纵面的气动数据插值方面,本文用非均匀有理B样条插值法,将插值后的数据进行拟合,得到操纵面气动力系数与舵偏角的关系表达式。在上述基础上,用序列二次规划法对无人机操纵面损伤故障进行重构。仿真结果表明,本文给出的方法能够对操纵面故障进行重构,并取得了较好的重构效果。
The equation of motion for an airplane is usually described in the Eulerian coordinate system, but the solution to the equation of motion can be singular when the aircraft is doing a substantial gesture. According to the characteristics of a flying wing layout UAV, this paper first established a six-degree-of-freedom flight dynamics model based on the quaternion method. In the aspect of the interpolation of aerodynamic data of the control surface, this paper uses the non-uniform rational B-spline interpolation method to fit the interpolated data to obtain the expression of the aerodynamic coefficient of the control surface and the steering angle. Based on the above, the sequence quadratic programming method is used to reconstruct the UAV damage. The simulation results show that the method presented in this paper can reconstruct the fault of the control surface and achieve good reconstruction results.