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选择变形翼飞行器的巡航和俯冲两个飞行模态作为研究对象,给出变形翼飞行器的两个特定飞行模态对应的运动学数学模型。由于被控对象的非线性以及结构变化引起的参数不确定性,设计了自适应姿态控制律。基于Lyapunov稳定性定理证明了所提出控制方法的可行性,实现了对飞行器的姿态控制。并运用VC++编程语言结合OpenGL图形库,创建飞行器飞行环境;利用VC++/Simulink混合编程实现数据传递,较精确地实现了变形翼飞行器在两个不同模态间动态变化飞行过程,验证了所提出方法的有效性。
The flight modes of cruise wing and cruise flight are selected as the research objects, and the kinematic mathematic models corresponding to two specific flight modes of the wing-shaped aircraft are given. Due to the nonlinearity of the controlled object and the parameter uncertainty caused by structural changes, an adaptive attitude control law is designed. Based on the Lyapunov stability theorem, the feasibility of the proposed control method is proved and the attitude control of the aircraft is realized. And use VC ++ programming language combined with OpenGL graphics library to create aircraft flight environment; the use of VC ++ / Simulink hybrid programming to achieve data transfer, more accurate realization of the deformation wing aircraft in two different modes dynamically changing flight process, validated the proposed method Effectiveness.