临近空间太阳能无人机横航向变质心控制技术  

A Lateral-Directional Moving-Mass Control Technology for Near Space Solar-Powered UAV

作　　者：王克帆 邱潇颀 高长生[1] 荆武兴[1] WANG Kefan;QIU Xiaoqi;GAO Changsheng;JING Wuxing(Department of Astronautics Engineering,Harbin Institute of Technology,Harbin 150001,Heilongjiang,China)

机构地区：[1]哈尔滨工业大学航天工程系,黑龙江哈尔滨150001

出　　处：《空天防御》2021年第4期29-36,共8页Air & Space Defense

基　　金：国家自然科学基金资助(11572097)。

摘　　要：针对正常式布局太阳能无人机的横航向控制问题,提出了以蓄电池作质量滑块,滑轨沿展向布置的太阳能无人机变质心控制方案。首先,建立了变质心太阳能无人机的运动模型;之后,基于经典PID控制理论,以滑块偏移为控制量分别设计了滚转角控制器和偏航角控制器。仿真结果表明:当滑块质量比一定时,滑块移动速度和最大行程是影响变质心控制效果的主要因素。滑块行程主要影响系统操纵能力和超调量,而滑块速度过低时会导致控制系统时滞现象明显,甚至会造成系统发散。Aiming at the lateral-directional control problem of solar-powered unmanned aerial vehicle(UAV) with normal configuration, a moving-mass control scheme with battery as a mass slider and slide rail arranged along the spanwise is proposed. Firstly, the motion model of moving-mass solar-powered UAV is established. Then based on the classical PID control theory, the rolling angle controller and the yaw angle controller are designed respectively with the slider offset as the input. The simulation results show that when the mass of the slider is certain, the moving speed and maximum stroke of the slider are the main factors affecting the control effect of the moving-mass control scheme, and the sliding stroke mainly affects the manipulability and overshoot of the control system, and when the slider speed is too slow, the delay of the control system will be obvious, and even the system will be diverged.

关 键 词：太阳能无人机 变质心 横航向控制 动力学模型 无副翼 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计]