基于Simulink/Stateflow的无人机多模态飞行控制律仿真  

Multimode Simulation of UAV Flight Control Law Based on Simulink/Stateflow

作　　者：王元超[1] 段镇[1] 高九州[1,2] 宋荣志[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]中国科学院大学,北京100039

出　　处：《计算机测量与控制》2015年第6期1944-1946,共3页Computer Measurement &Control

基　　金：中国科学院知识创新过程国防科技重要自助项目(YYYJ-1122)

摘　　要：为了验证无人机多模态飞行控制律设计的正确性,采用Simulink/Stateflow建模仿真方法;以某小型无人机为研究对象,首先在小扰动线性化模型基础上,设计了纵向和侧向多模态控制系统结构,并给出了相应的控制律,然后根据传统的频域和根轨迹的方法确定了各个控制器参数,最后通过Simulink/Stateflow完成整个飞行剖面的仿真,结果表明该方法能直观简洁地实现多模态之间切换的控制逻辑,模态控制误差均满足国军标要求,验证了所设计的多模态控制系统的正确性。In order to validate the accuracy of multimode flight control law designed in UAV model, a modeling and simulation method based on Simulink/Stateflow was introduced in this paper. Taking a small UAV for the study, firstly, the longitudinal and lateral multimode control system structure was designed and each corresponding control law was given based on small perturbation linear model. And then, all controller parameters were decided by traditional frequency domain and root locus method. Finally, a simulation through the entire flight profile based on Simulink/Stateflow was carried out. The results show the multimode flight control logic switch is achieved by Stateflow intuitively and laconically, each of the modal control error can satisfy the requirements of military specifications. Meanwhile, the accuracy of multimode flight control system designed is tested and verified.

关 键 词：无人机 多模态 飞行控制律 控制逻辑 STATEFLOW 

分 类 号：V249.122[航空宇航科学与技术—飞行器设计]