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微型涵道飞行器可以悬停、垂直起降和前飞,且安全性高、结构紧凑、噪声低。但是,微型涵道飞行器由于大飞行包线、特殊气动布局、低速度、小尺寸和复杂飞行环境,所以具有明显的非定常和非线性飞行力学特性。针对这一问题,研究了应用动态逆控制律的新方法——神经网络自适应逆。采用动态逆控制器、神经网络补偿器、比例微分(proportion-derivative,PD)补偿器和伪控制补偿器构建了微型涵道飞行器飞行控制系统。仿真结果表明,相比动态逆-比例积分微分(proportion-integral-derivative,PID控制系统,本文设计的自适应逆控制系统具有更强的稳定性和鲁棒性。
Micro-ducted aircraft can hover, take off and take off vertically, and have high safety, compact structure and low noise. However, due to the large flight envelope, special aerodynamic layout, low speed, small size and complex flight environment, the micro-ducted aircraft has obvious unsteady and non-linear aeromechanical characteristics. In response to this problem, a new method of adaptive inverse control law is studied, which is neural network adaptive inverse. A dynamic control system, a neural network compensator, a proportional-derivative (PD) compensator and a pseudo-control compensator are used to construct a mini-aircraft flight control system. The simulation results show that the adaptive inverse control system designed in this paper has more stability and robustness than the PID control system.