基于非线性动态逆的无人机直接升力控制  

Direct Lift Control of Drone Based on Nonlinear Dynamic Inversion

作　　者：魏治强 王新华[1] 王凯[1] WEI Zhiqiang;WANG Xinhua;WANG Kai(Nanjing University of Aeronautics and Astronautics,Nanjing 211100,China)

机构地区：[1]南京航空航天大学,江苏南京211100

出　　处：《机械制造与自动化》2020年第6期177-181,共5页Machine Building & Automation

基　　金：南京航空航天大学研究生创新基地(实验室)开放基金项目(kfjj20180308)。

摘　　要：针对传统固定翼无人机纵向控制系统带宽小、相位滞后以及耦合度较高的问题,基于某鸭式布局无人机提出一种基于非线性动态逆的直接升力控制方法,实现直接升力模态和垂直机身平移模态的设计。仿真结果表明,所设计的直接升力控制模态提高了纵向位置闭环控制系统的带宽以及相位,其垂向速度的建立远快于常规高度闭环系统。设计的垂直机身平移模态,实现了纵向位置控制和俯仰角控制的动态解耦。Because the problems of small bandwidth,phase lag and high coupling exist in the longitudinal control system of the traditional fixed-wing UAV,a direct lift control method based on nonlinear dynamic inversion is proposed based on a duck-type layout drone.This paper implements the design of direct lift model and vertical model.The simulation results show that the direct lift control model above can be used to improve the bandwidth and phase of the longitudinal closed-loop control system,and its vertical velocity is more faster than that of the conventional longitudinal closed-loop system.The vertical model above has high decoupling performance in longitudinal position control and pitch angle control.

关 键 词：动态逆控制 直接升力控制技术 解耦控制 

分 类 号：V279[航空宇航科学与技术—飞行器设计] V249.1