飞行失衡条件下的无人机惯导鲁棒性控制研究  

Robust Control of Unmanned Aircraft Inertial Navigation System under Condition of Flight Imbalance

作　　者：刘炜[1] 陆兴华[2] 

机构地区：[1]广州番禺职业技术学院,广州511483 [2]广东工业大学华立学院,广州511325

出　　处：《计算机与数字工程》2016年第12期2380-2385,共6页Computer & Digital Engineering

基　　金：2015年广东省教育厅重点平台及科研项目青年创新人才类项目(自然科学类)(编号:2015KQNCX218)资助

摘　　要：无人机的小扰动特性容易导致飞行失衡,对飞行失衡条件下稳定性和鲁棒性控制,提高无人机惯导的工作可靠性。传统的无人机飞行失衡校正和鲁棒性控制采用PID控制方法,无法使被控对象得到有效的干扰抑制和颤抖补偿。提出一种基于Lyapunov稳定性渐进补偿的飞行失衡条件下的无人机惯导鲁棒性控制算法。构建了飞行失衡条件下的无人机惯导控制模型,进行控制约束参量分析。考虑无人机惯导系统存在的不确定时延、未知扰动误差、横舵纵倾振荡等干扰问题,选取Lyapunov函数作为飞行控制的稳定性判决,进行Lyapunov稳定性渐进补偿,提高飞行控制的鲁棒性。仿真结果表明,该控制算法进行飞行惯导控制,能使航向姿态角收敛到误差最小的范围,控制输出的稳定性和鲁棒性较高。The small disturbance characteristic of the UAV is easy to cause the unbalance of flight, and the stability and robustness under the condition of unbalanced flight is controlled. The PID control method is adopted in the traditional UAV flight unbalance correction and robust control,which cannot make the controlled object get the effective disturbance rejection and the shaking compensation. A robust control algorithm for unmanned aerial vehicle base on Lyapunov stability under the condition of flight unbalance compensation is proposed. The UAV inertial guidance control model is constructed,which is used to control the parameters of the model. Considering the UAV inertial navigation time delay and unknown disturbance error,horizontal rudder longitudinal inclination oscillation interference,the Lyapunov function is selected as the judgment of the stability of the flight control,Lyapunov stability incremental compensation,im-prove the robustness of flight control. The simulation results show that the control algorithm can make the attitude angle converge to the minimum error range,and the stability and robustness of the control output is high.

关 键 词：无人机 控制 鲁棒性 惯导 

分 类 号：TP276[自动化与计算机技术—检测技术与自动化装置]