动态逆和变结构控制理论的BTT无人机控制系统设计  

A Method of Control System Design based on Dynamic Inversion and Variable Structure Control Applied to BTT UAV

作　　者：姚建国[1] 祝小平[2] 

机构地区：[1]西北工业大学航天学院,陕西西安710072 [2]西北工业大学无人机所,陕西西安710072

出　　处：《火力与指挥控制》2009年第5期82-85,共4页Fire Control & Command Control

基　　金：教育部新世纪优秀人才支持计划基金资助项目(NCET-05-0867)

摘　　要：基于动态逆和变结构控制理论设计了BTT无人机控制系统,首先应用时间尺度理论将控制系统分为快变量和慢变量两个子系统。在快变量子系统中以[p,q,r]为子系统输出、以计算力矩[■,■,■]为控制输入,再根据子系统输入解算出舵面偏转角,在控制律的设计中,应用动态逆理论进行输入输出线性化,再以计算力矩偏差为子系统摄动设计变结构控制律。在慢变量子系统中以[α,β,μ]为子系统输出、以[p,q,r]为控制输入,在控制律设计中,应用动态逆理论进行输入输出线性化,再以计算气动力偏差为子系统摄动设计变结构控制律。整个系统的设计中需要确定气动导数的上下界,控制律设计简单,易于工程实现。最后仿真分析得出,这种方法有较好的控制效果。A method of designing control system based on dynamic inversion （DI） and variable structure control （VSC） applied to Bank-To-Turn （BTT） Unmanned Aerial Vehicle （UAV） is proposed. Firstly, the control system is divided into two subsystems based on timescale techniques. In the fast- variable subsystem, are considered to be outputs, calculated aerodynamic moments are considered to be inputs, then the actuator surfaces are calculated, in the design of control law, the subsystem is linearized based on dynamic inversion, then the VSC law is designed based on calculated aerodynamic moments error. In the slow-variable subsystem, are considered to be outputs, are considered to be inputs, in the design of control law, the subsystem is linearized based on dynamic inversion, then the VSC law is designed based on calculated aerodynamic forces error. The method requires bounds of aerodynamic derivatives, and it is easy and fit to engineering. The lastly, the simulation proves that the method is effective.

关 键 词：无人机 BTT 动态逆 变结构控制 

分 类 号：V249.122[航空宇航科学与技术—飞行器设计]