预测增量动态逆无人机姿态控制  

Attitude control laws for small UAV with prediction incremental dynamic inversion.

作　　者：郑积仕[1,2] 蒋新华[1,2] 陈兴武[2] 

机构地区：[1]中南大学信息科学与工程学院,长沙410083 [2]福建工程学院信息科学与工程学院,福州350108

出　　处：《计算机工程与应用》2013年第16期9-12,17,共5页Computer Engineering and Applications

基　　金：国家自然科学基金(No.61101139);福建省教育厅资助项目(No.JA11186);福建工程学院科研启动(No.GY-Z10057)

摘　　要：针对小型无人机模型参数精度不高的问题,提出一种预测增量动态逆姿态控制方法。该方法以角加速度作为姿态控制的反馈,从而降低了控制系统对模型参数的敏感性。根据无人机力矩方程,先将角加速度计算式写成增量形式;再根据非线性动态逆方法构建出角加速度为隐式输入、舵面偏转量增量为输出的直接关系式;在控制器中引入预测滤波器,对角加速度进行滤波和预测,提高反馈信号的精度和实时性。飞行实验表明方法是有效性的。A control method of the prediction incremental dynamic inversion is presented aiming to solve the low accuracy of the parameters in the small UAV model. The angular acceleration is taken as the feedback of the attitude control system and the sensitivity to the model parameter is reduced by the method. Based on the UAV moment equation, an incremental formulation is conducted to calculate the angular acceleration. The direct relation is constructed that angular acceleration is implicit input and the control surface deflection is the output based on the theory of dynamic inversion. A predictive filter is used in the controller to filter and predict the value of the angular acceleration, which enhance the accuracy and real-time of the feedback signal. The flight experiment proves the validity of the method presented in this paper.

关 键 词：预测增量动态逆 预测滤波器 小型无人机 姿态控制 

分 类 号：V249[航空宇航科学与技术—飞行器设计] TP273[自动化与计算机技术—检测技术与自动化装置]