基于动态逆的动力翼伞自主飞行控制方法  

Autonomous Flight Control Method of Powered Paraglider Based on Dynamic Inversion

作　　者：钱克昌[1] 陈自力[1] 李建[1] 

机构地区：[1]军械工程学院光学与电子工程系,河北石家庄050003

出　　处：《控制工程》2011年第2期178-180,201,共4页Control Engineering of China

基　　金：十一五装备预研基金(9140A25050106JB3412)

摘　　要：针对动力翼伞精确数学模型难以获得,系统输入输出关系耦合复杂等特点,建立动力翼伞8自由度动力学模型,设计由静态神经网络和积分器组成的动态神经网络,利用神经网络的逼近能力和动态逆控制方法相结合,提出了基于神经网络动态逆方法的动力翼伞控制方案,并进行了飞行仿真验证,结果表明完全满足控制要求,具有较好的抗干扰能力和鲁棒性能,对于实现动力翼伞的自主飞行控制具有很好的应用价值。To the problem that the accurate mathematic model of powered paraglider （PPG） can hardly be got, and the flight control system of PPG is a complicated nonlinear system, adynamic model of PPG with 8-DOF is built. A dynamic neural network consisting of the static neural network and the integrators is designed. And the control method of dynamic inversion is used for PPG, based on the ap- pproximation property of neural network and dynamic inversion. Simulation resuhs show that the proposed method strong ability of con- trol and robustness, possessing better application value in autonomous flight control of PPG.

关 键 词：动力翼伞 飞行控制 神经网络 动态逆 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]