四旋翼式飞行潜航器非线性增量动态逆控制  

Incremental nonlinear dynamic inversion control for a quad-rotor aerial underwater vehicle

作　　者：刘安 余宗金 廖保全 冯金富[1] 陈国明 LIU An;YU Zongjin;LIAO Baoquan;FENG Jinfu;CHEN Guoming(Air Force Engineering University,Xi'an 710038,China;95605 Troops of the PLA,Chongqing 402360,China;95380 Troops of the PLA,Zhanjiang 524000,China)

机构地区：[1]空军工程大学,陕西西安710038 [2]中国人民解放军95605部队,重庆402360 [3]中国人民解放军95380部队,广东湛江524000

出　　处：《飞行力学》2022年第2期67-73,共7页Flight Dynamics

基　　金：国家自然科学基金资助(51779263)。

摘　　要：针对四旋翼式飞行潜航器水下运动姿态控制问题,设计了一种带二阶低通滤波器的非线性增量动态逆控制器。建立了四旋翼式飞行潜航器水下运动数学模型,推导了增量形式的姿态控制律,以反馈的角加速度信号作为虚拟输入,得到了推力增量与角加速度的关系式,设计了姿态控制器,并进行了鲁棒性分析。通过在控制端和反馈的状态导数端引入二阶低通滤波器,保证了系统的时间同步性。仿真结果表明,在外界扰动和不确定性作用下,所设计的增量动态逆控制方法能够快速准确跟踪参考信号。An incremental nonlinear dynamic inverse( INDI) controller with a second-order lowpass filter is designed for the attitude control of a quad-rotor aerial underwater vehicle. The mathematical model of underwater motion is established, and the attitude control law in incremental form is derived. The relationship between thrust increment and angular acceleration increment is obtained by taking the feedback angular acceleration signal as the virtual input, the attitude controller is designed and a robustness analysis is carried out. By introducing a second-order low-pass filter at the control side and the feedback state side, the time synchronization of the system is guaranteed. Simulation results show that the incremental dynamic inverse controller designed in this paper can track the reference signal quickly and accurately under the influence of external disturbances and uncertainties.

关 键 词：非线性增量动态逆 飞行潜航器 数学模型 姿态控制 

分 类 号：V249[航空宇航科学与技术—飞行器设计] TP273[自动化与计算机技术—检测技术与自动化装置]