基于角加速度的飞翼无人机的控制律设计  

Control Law of Fly-Wing UAVs Based on Angular Acceleration

作　　者：赵塞峰 李秀娟[1] 李春涛[1] 

机构地区：[1]南京航空航天大学自动化学院,南京211100

出　　处：《电光与控制》2016年第9期38-43,89,共7页Electronics Optics & Control

摘　　要：针对飞翼布局无人机个体差异大、操纵面数量多、纵向操纵力臂短以及航向静不稳定等问题,提出角加速度到操纵面的直接分配策略,以及以角加速度为控制指令的控制律。首先在离散状态下将角加速度直接分配到操纵效率分级后的各操纵面上,最终以角加速度为控制指令设计纵向鲁棒伺服LQR控制律和横侧向增稳控制律。样例无人机非线性仿真结果表明,角加速度到操纵面的直接分配满足分配精度要求,以角加速度为控制指令的控制律满足飞翼无人机的快速、高精度要求。The fly-wing UAVs have large individual difference,a large number of control surfaces,short longitudinal control lever and static instable heading. To solve the problems,this paper presents a direct allocation method from angular acceleration to the control surface,and a control law taking angular acceleration as the control instruction. First of all,the angular acceleration is directly allocated to the control surfaces that have been graded in discrete state. Taking the angular acceleration as control instruction,a longitudinal Robustness Servomechanism Linear Quadratic Regulator（ RSLQR） control law,and a lateral stabilization control law,are designed. The simulation results for the sample UAV under nonlinear condition show that： 1） The angular acceleration allocated to the control surface satisfies the distributed precision requirement; and 2） The control law with the angular acceleration as control instruction has high tracking accuracy and satisfies the speed requirement.

关 键 词：无人机 飞翼布局 角加速度 直接分配 鲁棒伺服LQR 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计]