无人机着陆滑跑数学模型与纠偏控制  

Mathematic model and deviation-correction control for UAV taxiing

作　　者：郝现伟[1] 杨业[2] 贾志强[2] 王勇[1] 

机构地区：[1]北京航空航天大学自动化科学与电气工程学院,北京100191 [2]北京航天自动控制研究所,北京100854

出　　处：《电机与控制学报》2014年第5期85-92,共8页Electric Machines and Control

基　　金：总装预研重点基金项目(9140A25030109HK0103)

摘　　要：针对地面滑跑状态下的无人机滑跑纠偏的控制问题,提出采用方向舵偏转、主轮差动刹车和前轮转向的联合纠偏控制方案和控制结构;通过纠偏控制分配,将多输入单输出无人机滑跑纠偏系统等效为具有单一虚拟纠偏舵面的单输入单输出系统,从而直接采用经典控制理论设计滑跑纠偏控制律参数;全面分析了无人机地面滑跑中所受地面力及力矩,同时考虑气动力及力矩,根据刚体动力学和运动学理论建立了全面反映无人机滑跑运动特性的无人机模型,并据此得到滑跑过程小扰动线性模型。以某无人机为算例,进行地面滑跑建模及分析。仿真结果表明,纠偏控制方案可实现全程滑跑纠偏的有效控制。The deviation-correction control for unmanned aerial vehicle（ UAV） taxiing was studied. A combined deviation-correction control scheme and structure was proposed which employed rudder deflection,main-wheel differential braking and front-wheel steering. By deviation-correction control allocation, the multiple-input single-output UAV system was equivalent to descriptor single-input,single-output（ SISO） system which had a signal virtual rectification rudder,then the control law parameters were designed directly by classical control theory. The various forces and torques from the ground were fully analyzed, besides the aerodynamic forces and torques were considered. By the rigid body dynamics and kinematics theory,a UAV model which could reflect overall the taxiing motion characteristics was established and the small-perturbation linear model was obtained. Taking a UAV for example,the ground taxiing model was established and analyzed. The simulation result shows that the deviation-correction control scheme could realize effective control for the full taxiing stage.

关 键 词：无人机 纠偏控制 起落架 主轮差动刹车 线性模型 

分 类 号：V249.12[航空宇航科学与技术—飞行器设计]