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飞翼式微型飞行器由于尺寸小、速度低、气动布局特殊和飞行环境复杂多变,其飞行力学具有显著的非线性和非定常特性,传统的控制方法已不能满足要求。本文运用时标分离理论,设计了快变量和慢变量动态逆,同时引入在线神经网络补偿动态逆误差,并采用伪控制补偿器消除作动器和自适应单元之间的相互影响,在此基础上提出了飞翼式微型飞行器的自适应飞行控制系统,并与采用动态逆-PID控制方法设计的飞行控制系统进行比较。仿真结果表明:基于自适应逆的飞行控制系统,具有较强的鲁棒性和指令跟踪能力,比动态逆-PID飞行控制系统更适合于微型飞行器。
Due to its small size, low velocity, special aerodynamic layout and complex and varied flight environment, flying-wing micro-aircraft has significant nonlinear and unsteady characteristics, and the traditional control methods can not meet the requirements. In this paper, using time-scale separation theory, the dynamic variables of fast variables and slow variables are designed. At the same time, the online neural network is introduced to compensate the dynamic inverse error. The pseudo-controller is used to eliminate the interaction between actuators and adaptive elements. Proposed an adaptive flight control system for the flying-wing micro-aircraft and compares it with the flight control system designed with the dynamic inverse-PID control method. The simulation results show that the flight control system based on adaptive inverse has strong robustness and command tracking ability, which is more suitable for the micro-aircraft than the dynamic inverse-PID flight control system.