基于L1自适应方法的尾坐式无人机控制律设计  

Control Law Design for Tail-sitter UAV Based on L1 Adaptive Control Method

作　　者：姜超[1,2] 宋科璞[1,2] 周海军[1,2] Jiang Chao;Song Kepu;Zhou Haijun(National Key Laboratory of Flight Vehicle Control Integrated Technology, Xi’an 710065, China;AVIC Xi’an Flight Automatic Control Research Institute, Xi’an 710065, China)

机构地区：[1]飞行器控制一体化技术国防科技重点实验室,西安710065 [2]中国航空工业集团公司西安飞行自动控制研究所,西安710065

出　　处：《兵工自动化》2017年第8期14-19,共6页Ordnance Industry Automation

摘　　要：针对一种新型尾坐式无人机展开研究。在建模中为解决机身倾转过程中俯仰角奇异性的问题,结合其构型特点采取双欧法进行建模;对于其飞行过程中易受干扰的问题,采用L1自适应方法设计其控制律,以保证无人机在模态转换过程中具有良好的操稳特性。通过仿真实验验证了模型与控制律的有效性。仿真结果表明:该控制器能够克服飞行器在飞行过程中模型参数变动及其他不确定性干扰,为尾坐式无人机飞行控制律的设计与工程实现提供了一种新的方案。This paper researches a new tail-sitter UAV.Considering its configuration characteristics,a dual-Euler method was applied to solve the singularity problem of the pitch angle when the tail-sitter UAV tilts the fuselage.Aiming it is easily interfered in flight process,L1adaptive control method was used to design control law to ensure that the UAV had a good controllability and stability in mode transition.The effective of model and controller law were verified by simulation experiment.The results of simulation experiment show that the controller can overcome interference from its parameter perturbation and other uncertainty.This provides a new scheme for the design of flight control law and engineering realization of tail-sitter UAV.

关 键 词：尾坐式 双欧法 模态转换 L1自适应控制 

分 类 号：TJ85[兵器科学与技术—武器系统与运用工程]