混合翼垂直起降无人机过渡过程自适应切换控制  

Transition process adaptive switch control of a hybrid-wing vertical takeoff and landing UAV

作　　者：张勇 沈海东[3] 王博豪[1,2] 刘燕斌 ZHANG Yong;SHEN Haidong;WANG Bohao;LIU Yanbin(Research Institute of Pilotless Aircraft, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China;Key Laboratory of Advanced Technology for Small and Medium-sized UAV, Ministry of Industry and Information Technology, Nanjing University of Aeronautics and Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China;College of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China)

机构地区：[1]南京航空航天大学无人机研究院,江苏南京210016 [2]南京航空航天大学中小型无人机先进技术工业和信息化部重点实验室,江苏南京210016 [3]南京航空航天大学航天学院,江苏南京210016

出　　处：《哈尔滨工程大学学报》2020年第11期1675-1682,共8页Journal of Harbin Engineering University

基　　金：中小型无人机先进技术工业和信息化部重点实验室科研基地创新基金项目(NJ2018015).

摘　　要：针对混合翼垂直起降无人机过渡过程中模型参数变化大、特性耦合严重的问题,本文提出了一种基于保护映射理论的垂直起降无人机过渡过程自适应切换控制器的设计方案。以雅可比线性化方法为基础,搭建混合翼垂直起降无人机过渡过程的线性变参数模型,选取线性二次型为基本控制结构并求取过渡过程起始点的控制参数。基于保护映射理论求取初始控制参数的稳定范围,进而通过自动迭代获取整个过渡过程中满足性能指标的控制器参数集合。对所得控制器参数进行插值拟合,获得混合翼垂直起降无人机过渡过程自适应控制律。仿真结果表明,所设计的自适应控制律能够保证闭环系统的鲁棒稳定,满足混合翼垂直起降无人机过渡过程中的定高加速稳定控制。During flight mode transition of hybrid-wing vertical take-off and landing unmanned aerial vehicle(UAV),significant parameter variations and strong characteristic coupling occur.To deal with these,this study proposes an adaptive switch control system design strategy based on guardian maps theory.First,a linear parameter varying(LPV)model is established based on Jacobian linearization method.Linear quadratic regulation is selected as the basic control structure and control parameters are calculated according to the required flying qualities at the transition start point.The stabilization range of the initial controller parameter is calculated based on guardian maps theory.From this,the control parameters are automatically obtained over the whole transition process and are then transformed into a polynomial form which now derives the complete adaptive control law.Simulation results indicate that the proposed adaptive control law can simultaneously guarantee the robustness of the closed ring system and stability control in the fixed height acceleration of hybrid-wing vertical take-off and landing UAV during transition process.

关 键 词：混合翼 过渡过程控制 雅克比线性化 线性变参 保护映射 自适应切换控制 自动迭代 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计]