小型无人机滑跑航向纠偏及增稳控制设计  

Heading Deviation Correction and Stability Augmentation Control for Small UAV Taxiing

作　　者：郭杰[1] 李震[1] 陈天悦[1] 刘真畅 唐胜景[1] 

机构地区：[1]北京理工大学宇航学院,北京100081

出　　处：《北京理工大学学报》2017年第12期1287-1294,共8页Transactions of Beijing Institute of Technology

基　　金：国家自然科学基金资助项目(11572036);航空科学基金资助项目(2012ZA72002)

摘　　要：为解决小型无人机地面滑跑纠偏过程中易发生的侧翻问题,建立了无人机地面滑跑数学模型,分析了无人机滑跑侧翻的原因,设计模糊增稳控制器,模糊协同控制前轮转向、升降舵和副翼偏转,增加无人机的滑跑稳定性.提出只纠正无人机航向角偏差的纠偏控制方案,降低无人机侧翻风险.设计基于蚁群算法的模糊PID纠偏控制,应用蚁群算法对PID参数离线寻优,用模糊控制对PID参数进行在线调整.仿真和试验结果表明,本文设计的航向纠偏及增稳控制系统能有效纠正无人机航向角偏差,增加无人机在滑跑纠偏过程中的稳定性,防止无人机发生侧翻.To solve the taxiing rollover problem which is likely to happen during deviation correction for small UAV,a mathematical model of UAV taxiing was established to analyze the cause of rollover.A fuzzy logic controller was designed for correcting the heading deviation,which provided synergetic controlling of nose wheel,elevator and aileronto improve the taxiing stability of UAV.The fuzzy-PID control system based on ACO（ant colony algorithm）was designed to optimize PID parameters offline and adjust PID parameters online.The simulation and experiments results show that the control system can correct the heading deviation effectively,and increase the taxiing stability of small UAV.

关 键 词：无人机滑跑数学模型 纠偏及增稳控制 蚁群算法 模糊控制 滑跑试验 

分 类 号：V249[航空宇航科学与技术—飞行器设计]