圆柱形定桨距共轴双旋翼无人机的制导控制系统设计  

Design of Guidance and Control System for Cylindrical Fixed-Pitch Coaxial Twin-Rotor Unmanned Aerial Vehicle

作　　者：林惠韩 冯令兵 冯卓 赵辰悦 赵良玉[1] Lin Huihan;Feng Lingbing;Feng Zhuo;Zhao Chenyue;Zhao Liangyu(School of Aerospace Engineering,Beijing Institute of Technology,Beijing 100081,China;No.208 Research Institute of China Ordnance Industries,Beijing 102202,China;Beijing Institute of Control and Electric Technology,Beijing 100038,China)

机构地区：[1]北京理工大学宇航学院,北京100081 [2]中国兵器工业第二零八研究所,北京102202 [3]北京控制与电子技术研究所,北京100038

出　　处：《航空兵器》2023年第5期42-49,共8页Aero Weaponry

基　　金：国家自然科学基金项目(12072027);河南省通用航空技术重点实验室开放基金项目(ZHKF-230201)。

摘　　要：圆柱形定桨距共轴双旋翼无人机能够兼顾结构重量、载荷大小和续航能力,适合作为单兵携带的自杀式无人机。为了实现圆柱形定桨距共轴双旋翼无人机对地面目标的精确打击,本文在定义相关坐标系的基础上,建立了其动力学模型,提出一种将位置和姿态控制指令转换为无人机上下旋翼转速和操纵舵机舵偏角的输入量分配方案,进一步设计了无人机的串级PID姿态控制器用于稳定无人机机体的姿态角,并基于L_(1)制导律提出一种通过矢量叉乘确定制导指令空间方位的三维制导律导引无人机攻击地面目标,最后在仿真环境下对无人机进行数值仿真。仿真结果显示,无人机能在所设计的制导控制系统作用下准确击中地面固定/移动目标,验证了所设计制导控制系统的合理性和有效性。Cylindrical fixed-pitch coaxial twin-rotor unmanned aerial vehicle can balance structural weight,payload size,and endurance,making them suitable for use as suicide drones carried by individual soldier.In order to achieve precise strike of ground targets by cylindrical fixed-pitch coaxial twin rotor unmanned aerial vehicles(UAV),a dynamic model is established based on the definition of the relevant coordinate system.Based on this model,an input allocation is proposed that converts three linear acceleration and three angular acceleration commands into UAV upper and lower rotor speeds and steering engine deflection angles.A cascade PID attitude controller of UAV is designed to stabilize the attitude angle of UAV body,and a three-dimensional guidance law based on L_(1) guidance law is proposed to guide unmanned aerial vehicles to attack ground targets by determining the direction of guidance command space through vector cross multiplication.Finally,numerical simulation of UAV is conducted.The simulation result shows that the UAV can hit fixed/moving targets on the ground with the designed guidance and control system,verifying the rationality and effectiveness of the designed guidance and control system.

关 键 词：共轴双旋翼 动力学建模 制导律 单兵无人机 系统仿真 

分 类 号：TJ760[兵器科学与技术—武器系统与运用工程] V279[航空宇航科学与技术—飞行器设计]