采用波束域加权的大迎角飞行姿态控制算法  

High Angle of Attack Flight Attitude Control Algorithm Based on Beam Domain Weighting

作　　者：陆兴华[1] 

机构地区：[1]广东工业大学华立学院,广东广州511325

出　　处：《计算机技术与发展》2017年第1期117-120,125,共5页Computer Technology and Development

基　　金：广东省2015年教育重点平台及科研项目青年创新人才类项目(自然科学类)(2015KQNCX218)

摘　　要：无人机在姿态角变化剧烈、大迎角等极端状态飞行时,参数在有限个线性模型之间连续变化,会带来系统参数的不确定性,飞行姿态控制的难度加大。提出一种基于波束域加权谱峰搜索方法进行误差补偿和自适应控制的无人机大迎角飞行姿态控制算法。构建无人机在俯仰、偏航和滚动飞行下的运动状态方程,采用波束域加权谱峰搜索方法,不断地对系统参数进行测量,进而根据姿态参量测量而对模型进行修正,提高控制性能,修正航向偏差。经过不断的最优自回归和最小二乘拟合,得到最优的输出姿态角,实现偏航纠正和误差补偿。仿真结果表明,利用算法进行无人机大迎角飞行姿态控制,偏航修正和误差补偿的性能较好,控制的鲁棒性和收敛性较高。When UAV flies in the violent attitude angle changes,large attack angle of extreme fright conditions,parameters change contin- uously in finite linear model,which brings the uncertainty of system parameters and enlarges the difficulty of flight attitude control. A new algorithm of high angle of attack flying attitude control is proposed based on the weighted spectral peak search method of the beam do- main for the error compensation and adaptive control. Construction of UAV in pitch, yaw and roll flight state equations of motion, the beam space weighted spectral peak searching methods are applied to constandy measure the system parameters. According to the attitude parameter measurement, the model is modified, improving of the control performance, correction of the heading error. After constant opti- mal self regression and least squares fitting, optimal output attitude angle, yaw correction and error compensation is achieved. The simula- tion results show that using the algorithm to control the high angle of attack flying attitude,its yaw correction and error compensation per- formance is better,and the robustness and convergence of it are better.

关 键 词：无人机 自适应控制 误差补偿 波束域加权 

分 类 号：TP276[自动化与计算机技术—检测技术与自动化装置]