某高速着陆无人机方向舵纠偏控制设计及性能分析  

Design and Performance Analysis of the Rudder Deviation Correction Control for a High-speed Landing UAV

作　　者：李洁玉[1] 聂宏[1,2] 魏小辉[1,2] 尹乔之[1] Li Jieyu Nie Hong Wei Xiaohui Yin Qiaozhi(Key Laboratory of Fundamental Science for National Defense-advanced Design Technology of Flight Vehicle, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China State Key Laboratory of Mechanics and Control of Mechanical Structures, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China)

机构地区：[1]南京航空航天大学飞行器先进设计技术国防重点学科实验室,南京210016 [2]南京航空航天大学机械结构力学及控制国家重点实验室,南京210016

出　　处：《航空工程进展》2017年第1期84-91,共8页Advances in Aeronautical Science and Engineering

基　　金：国家自然科学基金(51305198);江苏高校优势学科建设工程资助项目;机械结构力学及控制国家重点实验室(南京航空航天大学)自主研究课题资助(0214G01)

摘　　要：无人机高速着陆过程中,由于侧风或初始干扰导致的滑跑侧偏极其危险。基于高速状态下方向舵纠偏效率高的特点,建立某无人机高速着陆动力学模型,设计方向舵纠偏控制策略,并基于Matlab/Simulink平台建立无人机滑跑非线性动力学模型及方向舵纠偏控制模型;对具有初始1°偏航角和1m/s持续垂直侧风情况下的无人机着陆工况进行仿真分析,并通过控制着陆速度、着陆初始姿态角和侧风强度,分析纠偏控制系统的性能。结果表明:所设计的纠偏控制系统具有一定的航向纠偏和抗持续侧风能力,最大侧偏距小于3 m,偏航角小于5°,较好地实现了高速滑跑阶段的侧向纠偏性能。During the high-speed landing for unmanned aerial vehicle（UAV）,the deviation caused by crosswind or initial interference is very dangerous.Based on the characteristics of rudder with high efficiency at high speed,the high speed landing dynamic model of UAV is established,and the rudder deviation control strategy is designed.Further,the non-linear dynamics model of UAV and rudder deviation correction control system are established on Matlab/Simulink platform to simulate under the situations with initial 1°yaw angle or 1m/s continuous vertical crosswind.The performance of the system is analyzed by controlling the landing speed,the initial landing yaw angle and crosswind strength.The simulation results show that the rudder deviation correction control system is able to correct deviation and resist certain crosswind.In the correcting process,the maximum lateral deviation is less than 3mand the yaw angle is less than 5°,which means the system could realize lateral deviation correction.

关 键 词：无人机 高速着陆 方向舵纠偏 动力学 MATLAB/SIMULINK 

分 类 号：V279[航空宇航科学与技术—飞行器设计]