小型无人机三轮滑跑纠偏控制的建模与仿真  

Modeling and Lateral Deviation Controlling for Small UAV with Three Wheels in Ground Motion

作　　者：薛志鹏[1,2] 厉明[1] 李艳辉[1] 贾宏光[1] 

机构地区：[1]中国科学院长春光学精密机械与物理研究所,长春130033 [2]中国科学院研究生院,北京100039

出　　处：《系统仿真学报》2013年第11期2557-2560,2566,共5页Journal of System Simulation

基　　金：中国科学院知识创新工程国防科技创新重要项目(YYYJ-1122)

摘　　要：以某小型无人机为研究对象,针对其在地面滑跑过程中出现偏离跑道的情况,给出了一种基于主轮差动刹车控制系统实现地面滑跑纠偏的方法。应用遗传算法对指定构型的差动刹车纠偏控制律参数进行了设计,为使滑跑控制器同时具有抗侧偏和抗测风的性能,适应度函数中包含了侧偏条件下控制器对于参考路径的逼近程度以及侧风扰动条件下直线滑跑的性能,并通过权重因子来调整两种情况的参考比例。在Matlab/Simulink平台上进行了仿真,仿真结果表明根据寻优结果设计的控制律能够对无人机地面滑跑有效地进行纠偏,并能够在持续侧风扰动条件下,保持无人机的偏航距和偏航角在安全的范围内。With a certain type of small UAV as the research object, considering the situation of deviating from the runway during it＇s ground taxing process, a main wheel differential braking control system was designed to realize lateral deviation control. The genetic algorithm was used to design the specific structure control law of the differential braking system. In order to make the controller have the performance of anti lateral deviation and anti crosswind, fitness function contained the approximation of the reference path under the lateral deviation condition and also the straight taxing performance under the crosswind disturbance, and weighted factor was used to adjust the scale of the two conditions. Simulation was conducted in the environment of Matlab/Simulink, which shows that the control law designed by the optimization results can realize UAV ground taxing lateral deviation control effectively and also can keep the UAV lateral offset and yaw angle in a safe range under the crosswind disturbance conditions.

关 键 词：无人机 滑跑纠偏控制 遗传算法 MATLAB SIMULINK 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]