气动干扰下的Hex-Rotor无人飞行器控制器及其飞行实验  

Hex-Rotor unmanned aerial vehicle controller and its flight experiment under aerodynamic disturbance

作　　者：赵常均[1,2] 白越[1] 宫勋[1] 彭程[3] 徐东甫 续志军[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,吉林长春130033 [2]中国科学院大学,北京100039 [3]吉林大学通信工程学院,吉林长春130025

出　　处：《光学精密工程》2015年第4期1088-1095,共8页Optics and Precision Engineering

基　　金：国家自然科学基金资助项目(No.11372309;No.61304017);中科院知识创新工程方向性项目(No.yyyj-1112)

摘　　要：分析了气流扰动、翼间干扰等因素对飞行中的无人飞行器的控制精度和效果产生的影响,并给出了相应的解决方法。建立了Hex-Rotor飞行器的动力学模型,分析了升力因子不确定性导致飞行器控制效果下降的影响因素。设计了反演滑模控制器来控制飞行器的空间六自由度运动,同时考虑升力因子的不确定性采用超螺旋非线性观测器观测各个旋翼的升力因子来克服气动干扰的影响。通过原型机验证了提出的方法,结果显示:Hex-Rotor飞行器在气动干扰较大的外部环境中飞行时,水平位移跟踪误差不超过±4.5m,高度误差不超过±2.5m,姿态角度误差保持在±2°内,较大地增强了飞行器的抗扰能力。结果表明:采用本文的方法可以有效地估计各个旋翼的升力因子,从而提高Hex-Rotor飞行器的控制精度和效果。The downside effects of airflow disturbance and rotor interference on the control accuracy and control effect of a unmanned aerial vehicle were analyzed and the method to solve the problems mentioned above was given.A dynamic model for the Hex-Rotor aircraft was established,and the reasons that control quality of aircraft was declined by the fluctuation of lift factors were analyzed.An inversion sliding mode controller was designed to control the space 6-DOF channels,meanwhile a nonlinear supercoiled observer was proposed based on the nondetermination of lift factors to estimatethe lift factor of every rotor and to overcome the pneumatic disturbance.A prototype was taken to verify the proposed method.The experiment results indicate that the horizontal tracking errors are limited in ±4.5 m with the altitude error of ±2.5 mand attitude errors of ±2°in a large inflow environment.The method effectively estimates the lift factor of every rotor and improves the control precision and effect of the Hex-Rotor aircraft.

关 键 词：无人飞行器 升力因子 气动干扰 反演滑模控制器 超螺旋非线性观测器 

分 类 号：V279[航空宇航科学与技术—飞行器设计] V249.1