基于增量反步的复合翼无人机全包线姿态控制  

Full Envelope Attitude Control of Compound Wing UAV Based on Incremental Backstepping

作　　者：谭济芸 王寅 Tan Jiyun;Wang Yin(College of Astronautics,Nanjing University of Aeronautics and Astronautics,Nanjing 211106,China)

机构地区：[1]南京航空航天大学航天学院,南京211106

出　　处：《兵工自动化》2023年第1期76-81,共6页Ordnance Industry Automation

基　　金：航空科学基金(20175152038)。

摘　　要：针对某型复合翼无人机强非线性、不确定性和多模态的问题,从不确定性补偿非线性控制方法、跟踪微分器加速度测量和直接切换方法等角度开展全包线飞行控制研究。针对气动参数不确定问题,基于角加速度补偿方法,提出一种基于新型微分跟踪器的增量反步方法(incrementalbacksteppingcontrol,IBKS);为解决多模态特性问题,设计基于策略的直接切换方法,利用控制器参数切换实现复合翼无人机全包线姿态控制;通过不同模态下的仿真选取不同模式下的控制器参数,并联合选取的参数对起飞过程进行仿真。结果表明:所提姿态控制方法在样例复合翼无人机参数摄动30%的情况下,相较于反步法提高了66.8%的俯仰角控制精度,能消除攻角抖振,提升飞行品质。Aiming at the problems of strong nonlinearity,uncertainty and multi-mode of certain type compound wing UAV,the full envelope flight control is studied from the aspects of uncertainty compensation nonlinear control method,tracking differentiator acceleration measurement and direct switching method.Based on the angular acceleration compensation method,an incremental backstepping control(IBKS)method based on a new differentiator tracker is proposed to deal with the aerodynamic parameter uncertainties.In order to solve the problem of multi-mode characteristics,a direct switching method based on strategy is designed,and the full envelope attitude control of compound wing UAV is realized by switching the controller parameters.The controller parameters in different modes are selected through the simulation of different modes,and the take-off process is simulated with the selected parameters.The results show that the proposed attitude control method improves 66.8%of the pitch angle control accuracy compared with the backstepping method,eliminates the attack angle buffeting and improves the flight quality of the sample compound wing UAV with 30%parameter perturbation.

关 键 词：复合翼无人机 姿态控制 增量反步方法 跟踪微分器 

分 类 号：V279[航空宇航科学与技术—飞行器设计]