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本文以大展弦比飞翼布局无人机为研究对象,基于线性自抗扰控制(linear active disturbance rejection control,LADRC)理论设计了包含内环姿态控制和外环轨迹控制的全包线飞行控制器.在姿态控制中,提出一种抗时滞LADRC控制方法,可以有效解决控制延迟和执行机构动态特性引起的LADRC响应振荡;在轨迹控制中,考虑飞翼布局无人机的气动特性,分别设计了高度、航向、侧向偏离等常用飞行模态的跟踪控制器.仿真结果表明,在气动参数存在不确定性及强风干扰的全包线环境中连续飞行时,所设计的控制器具有较好的控制性能和较强的鲁棒特性.与常规全包线控制方案相比,本文设计的全包线飞行控制器待整定参数较少,参数整定过程相对简单,为进一步的工程应用提供了参考.
In this paper, a large aspect ratio flying wing layout UAV is taken as the research object. Based on the linear active disturbance rejection control (LADRC) theory, an all-envelope flight control system with inner loop attitude control and outer loop trajectory control is designed. In the attitude control, an anti-delay LADRC control method is proposed, which can effectively solve the control delay and the LADRC oscillation caused by the actuator dynamic characteristics. In the trajectory control, considering the aerodynamic characteristics of flying wing layout UAV A tracking controller is designed for common flight modes such as altitude, heading, lateral deviation, etc. The simulation results show that the controller designed in continuous flight in the all-enveloping environment with uncertainties of aerodynamic parameters and strong wind disturbances, Good control performance and strong robustness.Compared with the conventional all-envelope control scheme, the full-envelope flight controller designed in this paper has fewer parameters to be set and the parameter setting process is relatively simple, which provides a further engineering application reference.