非线性解耦控制在无人机中的应用  

Nonlinear decoupled control of unmanned aerial vehicles

作　　者：曾加[1] 慕春棣[1] 

机构地区：[1]清华大学自动化系,北京100084

出　　处：《清华大学学报（自然科学版）》2005年第4期545-548,共4页Journal of Tsinghua University(Science and Technology)

基　　金：国家"八六三"高技术项目(2002AA755002)

摘　　要：为了提高无人机的机动性,同时保证其航迹的精确性,针对无人机纵向运动模型,采用非线性动态解耦Singh算法设计直接力控制器,并对某一型号的无人机模型进行了纯直接力模式的计算机仿真。结果显示无人机的速度、迎角、俯仰角以及航迹角输出均能按照预期的目标渐进跟踪控制指令,并且具有很好的动态响应。仿真实验表明基于Singh算法的直接力控制器能解除无人机在飞行过程中某些模态运动之间的交叉耦合,并能精确实现纯直接力、俯仰指向等3种模式的直接升力控制。The maneuverability and flight path accuracy of unmanned aerial vehicles (Uavs) is improved with a direct force control (DFC) controller based on a vertical model of the vehicles and Singh's algorithm. Simulation results for a certain model show that the outputs of velocity, incidence angle, pitching angle, and vertical path angle can asymptotically track the control instruction according to the anticipative target, and have good performances. This implies that the DFC controller can decouple the movement modes and can accurately calculate the 3 modes of the direct lift control such as direct lift and pitch pointing.

关 键 词：直接力控制 动态解耦 可逆性 无人机 

分 类 号：TP29[自动化与计算机技术—检测技术与自动化装置] V1[自动化与计算机技术—控制科学与工程]