增量非线性动态逆小型无人机速度控制  

Velocity control design for the small UAV based on the incremental non-linear 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,湖南长沙410083 [2]福建工程学院信息科学与工程学院,福建福州350108

出　　处：《系统工程与电子技术》2013年第9期1923-1927,共5页Systems Engineering and Electronics

基　　金：国家自然科学基金(61101139);福建省教育厅科技面上项目基金(JA11186)资助课题

摘　　要：针对小型无人机速度控制精度差的问题,提出一种基于增量非线性动态逆的速度控制方法。首先,根据无人机运动方程和推力模型建立速度控制模型;其次,应用非线性动态逆方法获得油门控制指令与速度的直接关系式;最后,再重写无人机运动方程为增量形式,得到油门控制指令增量与加速度的控制关系式,并依此设计了速度控制律。为某飞机构建推力模型和增量动态逆速度控制器,飞行试验验证了所提方法的有效性。Aiming to solve the low accuracy in the velocity control of the small unmand aerial vehicle （UAV）, a velocity control method based on the incremental non-linear dynamic inversion is presented. The ve locity control model is firstly constructed based on the UAV movement equation and the thrust model. Second- ly, with the application of non-linear dynamic inversion, the direct relation between the throttle command and the velocity is developed. Thirdly, with the UAV movement equation rewritten into the incremental form, the control relation between the throttle command increment and the acceleration is attained and the velocity control law is accordingly designed. A thrust model and a velocity controller based on incremental non-linear dynamic inversion are constructed in a small UAV. The flight test verifies the effectiveness of the proposed method.

关 键 词：飞行器控制、导航技术 速度控制 增量非线性动态逆 小型无人机 推力模型 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计]