基于鲁棒H_(∞)控制的无人机纵向自动驾驶仪设计  

Design of Longitudinal Autopilot of UAV Based on Robust H_(∞)Control

作　　者：李勇 李树豪 党利 LI Yong;LI Shu-hao;DANG Li(Zhengzhou University of Aeronautics,School of Aeronautical Engineering,Henan Zhengzhou 450046,China)

机构地区：[1]郑州航空工业管理学院航空工程学院,河南郑州450046

出　　处：《现代防御技术》2021年第5期32-44,共13页Modern Defence Technology

基　　金：河南省高等学校重点科研项目(21A590003,21B590002);河南省重点研发与推广专项(科技攻关)(212102210342)。

摘　　要：针对传统增益调度技术在许多无人机(unmanned aerial vehicle,UAV)应用中存在的昂贵和耗时的缺点,通过某型固定翼无人机的6自由度非线性模型,在已知气动系数、飞机转动惯量和推力系数的情况下,利用雅可比线性化方法从6自由度非线性模型推导出线性变参数(linear parameter varying,LPV)飞机模型。应用张量-乘积(tensor product,TP)模型变换方法将无人机纵向非线性参数依赖的LPV模型变换为TP型凸多面体模型形式,将增益调度输出反馈鲁棒H_(∞)控制器设计方法应用于所得到的TP凸多面体模型,设计了常规固定翼无人机的鲁棒增益预测自动驾驶仪飞行控制系统。在MATLAB SIMULINK环境下对该控制系统进行了全六自由度的飞行器仿真试验,结果表明闭环控制系统具有良好的指令跟随性和干扰抑制能力,在定义的飞行包线范围内具有较好的稳定性和鲁棒性,验证了所提出的飞行控制系统设计方法的有效性。In view of the expensive and time-consuming shortcomings of traditional gain scheduling technology in many UAV applications,through the six-degree-of-freedom nonlinear model of a fixed-wing UAV,under the condition of known the aerodynamic coefficient,aircraft moment of inertia and thrust coefficient,the linear parameter varying(LPV)aircraft model is derived from the six-degree-of-freedom nonlinear model by using Jacobian linearization method.The tensor-product(TP)model transformation method is used to transform the longitudinal nonlinear parameter-dependent LPV model of UAV into TP convex polyhedron model.The robust H_(∞)controller design method of gain scheduling output feedback is applied to the TP convex polyhedron model,and the robust gain predictive autopilot flight control system of conventional fixed-wing UAV is designed.A full six-degree-of-freedom aircraft simulation test of the control system is carried out in MATLAB SIMULINK environment.The results show that the closed-loop control system has good command followed,interference suppression ability,good stability and robustness in the given flight envelope,which verifies the effectiveness of the proposed flight control system.

关 键 词：固定翼无人机 非线性数学模型 TP方法 LPV模型 鲁棒H_(∞)控制 

分 类 号：V231.1[航空宇航科学与技术—航空宇航推进理论与工程] V279