具有角速率饱和约束的无人机机动控制设计  

Maneuver Control Design of UAV with Angular Rate Saturation Constraint

作　　者：李继广 董彦非 屈高敏 严天建 常柯 LI Ji-guang;DONG Yan-fei;QU Gao-min;YAN Tian-jian;Chang Ke(Aircraft Academy,Xi'an Aeronautical University,Xi'an 710077,China;Aviation Academy,Northwestern Polytechnical University,Xi'an 710072,China)

机构地区：[1]西安航空学院飞行器学院,陕西西安710077 [2]西北工业大学航空学院,陕西西安710072

出　　处：《控制工程》2021年第10期1955-1959,共5页Control Engineering of China

基　　金：通用航空技术中心基金资助项目(XHY-2016084);陕西省青年基金资助项目(S2021-JC-QN-1446);陕西省自然科学基金资助(2019JM-290);西安航空学院校级基金资助项目(2019KY1230)。

摘　　要：针对无人机机动飞行所具有的非线性、强耦合、舵面操纵效率低等问题,采用了Backstepping控制方法对无人机机动飞行控制律进行了设计。同时,为了解决舵面操纵效率低带来的舵面角速率饱和的问题,设计了舵机层控制律,减弱了舵机角速率饱和带来的影响。分析了该控制律克服舵机角速率影响的机理,并采用李雅普诺夫稳定性定理分析了该控制器的稳定性。仿真结果表明,所设计的控制方法使无人机可以获得和矢量控制相似的机动效果,有效地解决了机动飞行过程中舵面角速率饱和带来的影响。Aiming at the nonlinearity,strong coupling and Low control efficiency of rudder surface of UAV maneuvering flight,the backstepping control method is used to design the maneuvering flight control law of UAV.At the same time,in order to solve the problem of rudder surface angle rate saturation caused by the low control efficiency of the rudder surface,the control law of the rudder layer is designed to weaken the influence of the rudder surface angle rate saturation.The mechanism of the control law overcoming the influence of the angular rate saturation of the rudder is analyzed in this paper,and Lyapunov stability theorem is used to analyze the stability of the controller.The simulation results show that the control method designed in this paper enables the UAV to obtain a maneuver effect similar to that of the vector control,and effectively solves the influence of the rudder surface angle rate saturation during the maneuvering flight.

关 键 词：机动飞行 角速率饱和约束 BACKSTEPPING控制 

分 类 号：TG156[金属学及工艺—热处理]