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针对飞翼布局无人机模型强非线性、大不确定性及多变量强耦合等问题,设计了基于块控反演控制技术的姿态控制律,并采用自抗扰控制中的线性扩张状态观测器实现了对模型总不确定性的估计。为解决因阻力方向舵舵效非线性以及舵环节指令跟踪延迟造成控制系统动态性能下降的问题,采用函数拟合法解算阻力方向舵舵偏指令,并利用二阶振荡环节对观测器进行抗时滞处理。仿真结果表明,所设计的姿态控制律能够使飞翼布局无人机准确跟踪姿态指令,并具备较强的鲁棒性与良好的动态性能。
Aiming at the problems of strong nonlinearity, large uncertainty and multi-variable strong coupling in the flying wing layout UAV model, the attitude control law based on block inversion control technology is designed and the linear expansion state observation in ADRC The implement achieves an estimate of the total uncertainty of the model. In order to solve the problem that the dynamic performance of the control system is deteriorated due to the non-linearity of the rudder in the drag direction and the tracking delay of the rudder, the function fitting method is used to solve the rudder deflection in the drag direction and the anti- . The simulation results show that the designed attitude control law can make the flying wing layout UAV accurately track the attitude command and has strong robustness and good dynamic performance.