新概念垂直起降无人机动力学建模与控制仿真  

A new concept of VTOL UAV dynamics modeling and control simulation

作　　者：张峻渤 杨靖宇[1,2] 唐寅峰 ZHANG Jun-bo;YANG Jing-yu;TANG Yin-feng(Intelligent aircraft system theory and technology laboratory,Shenyang Aerospace University,Shenyang 110136;Research and Development Department,Shenyang Goddard intelligent equipment technology co.Ltd,Shenyang 110001)

机构地区：[1]沈阳航空航天大学智能飞行器系统理论与技术实验室,沈阳110136 [2]沈阳戈达德智能装备科技有限公司研发部,沈阳110001

出　　处：《沈阳航空航天大学学报》2020年第6期20-27,共8页Journal of Shenyang Aerospace University

基　　金：国家自然科学基金(项目编号:51605308);辽宁省教育厅项目(项目编号:JYT19057)。

摘　　要：基于一种新概念垂直起降无人机,推导了无人机的六自由度动力学方程与运动学方程,建立了无人机的非线性数学模型。其次,基于非线性数学模型并结合全局快速Terminal滑模控制方法,设计了无人机的高度和姿态控制器,建立了无人机仿真控制系统。仿真结果表明,与普通滑模控制方法及传统PID方法进行对比,全局快速Terminal滑模控制方法控制精度更高,响应速度更快,鲁棒性更好,采用全局快速Terminal滑模控制方法可有效对无人机的滚转角、俯仰角、偏航角和高度进行精准控制。In this paper,based on a new concept of vertical take-off and landing UAV,the six degrees of freedom dynamics equation and kinematics equation of the UAV are derived,and the nonlinear mathematical model of the UAV was established.Secondly,based on the nonlinear mathematical model and combined with the global fast Terminal sliding mode control method,the height and attitude controller of the UAV was designed,and the UAV simulation control system was established.The simulation results show that,compared with the ordinary sliding mode control method and the traditional PID method,the global fast Terminal sliding mode control method has higher control precision,faster response speed and better robustness.The global fast terminal sliding mode control method can effectively control the roll Angle,pitch Angle,yaw Angle and height of the UAV.

关 键 词：垂直起降无人机 动力学方程 数学模型 全局快速Terminal滑模控制 仿真控制系统 

分 类 号：V275.2[航空宇航科学与技术—飞行器设计]