无人机螺旋自主认知与改出控制器设计  

Autonomous Cognition and Recovery Controller Design of UAV Spiral

作　　者：黄汉桥[1,2] 赵鑫[1] 周欢[1] 王族统[1] 

机构地区：[1]空军工程大学航空航天工程学院,陕西西安710038 [2]西北工业大学,陕西西安710072

出　　处：《西北工业大学学报》2015年第6期879-886,共8页Journal of Northwestern Polytechnical University

基　　金：国家自然科学基金(71501184);航空科学基金(20155196022)资助

摘　　要：针对飞行器螺旋改出难题,研究无人机螺旋自主认知与改出控制方法。首先建立基于飞行状态认知的无人机安全控制框架,在此基础上进行无人机螺旋认知与改出控制器设计,分析螺旋成因,根据机载传感器提供的实时飞行参数信息,采用直觉模糊统计判决与决策算法进行螺旋自主认知,最后考虑状态变量控制时序,并设计非线性动态逆控制律,完成无人机螺旋改出的制导控制。仿真结果表明,相对于已有解决策略,所提出的控制方法可以显著缩短螺旋改出所需时间,同时具有较好的动态响应特性。Aiming at dealing with the spiral recovery puzzle of aerial vehicles, we put forward an autonomous spiral cognition and recovery control method of the unmanned aerial vehicle （UA~）. First of all, the safety control frame- work of unmanned aerial vehicles （UAV） based on flight state-cognition is built and the autonomous spiral cognition and recovery controller is designed. Then, the spiral factors are analyzed and the spiral state is recognized by using intuitive fuzzy statistic adjudging and decision-making algorithm according to timing flight variables information af- forded by airborne sensors. Finally, the control scheduling of state variables is considered, and nonlinear dynamic inversion control laws are designed, which accomplish the guidance and control of the UAV spiral. Simulation re- subs and their analysis suggest that, compared with the existing strategies, the proposed control method can de- crease the time needed for spiral recovery evidently and meanwhile has good dynamic response characteristics.

关 键 词：无人机 螺旋 认知 改出 安全控制 控制器 控制时序 非线性动态逆 统计 决策 动态响应 飞行状态 攻角 角速率 自主 飞行控制 

分 类 号：V249[航空宇航科学与技术—飞行器设计]