多轴电传操纵系统非线性机构与自适应控制分析  

Nonlinear Mechanism and Adaptive Control Analysis of Multi Axis Fly by Wire Control System

作　　者：邓俊 钟伦超 DENG Jun;ZHONG Lunchao(Sichuan Staff University of Science and Technology,Chengdu 610101,China;Tsinghua Shenzhen International Graduate School,Tsinghua University,Shenzhen Guangdong 518000,China)

机构地区：[1]四川科技职工大学,成都610101 [2]清华大学深圳国际研究生院,广东深圳518000

出　　处：《微电机》2020年第1期79-83,共5页Micromotors

基　　金：深圳市科技创新计划项目(JCYJ20180306174135470);四川省教育厅基金项目(JG2018-1243);四川科技职工大学科研项目(kY2019006)

摘　　要：电传操纵系统要求平稳性、安全性、快速响应性,本文以无人机的电传操纵系统为研究对象,首先对系统上下层机械结构进行理论分析,为了实现奇异非线性自适应控制器的设计,在分析了非线性操纵机构的运动学基础上,提出逆运动,将非线性操纵系统部分线性化,对系统机械结构进行正逆向运动学的推导,从而建立更加完善的系统模型。实验结果表明,采取非线性自适应鲁棒控制的电传操纵系统控制方案可以得到位置、转速和转矩的精确跟随,能够满足无人机系统抗负载能力要求,具有更好的鲁棒性。Fly by wire control system(FBW)requires stability,safety and fast response.This paper took the FBW of an unmanned aerial vehicle(UAV)as the research object.Firstly,the mechanical structure of the upper and lower layers of the system was analyzed theoretically.Then in order to realize the design of singular nonlinear adaptive controller.Based on the analysis of the kinematics of the nonlinear control mechanism,the inverse motion was proposed,the nonlinear control system was partially linearized,the forward and reverse kinematics of the mechanism position were derived,so as to establish a more perfect system model.The results show that the fly-by-wire control system control scheme based on nonlinear adaptive robust control can accurately follow the position,speed and torque,and can meet the requirements of the system load resistance,and the whole system has better robustness.

关 键 词：计算机仿真 电传操纵系统 自适应控制器 

分 类 号：TM341[电气工程—电机] TP273[自动化与计算机技术—检测技术与自动化装置]