全驱动倾转四旋翼式飞枪的建模与控制  

Modeling and Control of a Fully-actuated Tilting Quadrotor Gun-armed UAV

作　　者：曹凡 王军[1] 张驰宸 鲍尚华 谢姜琪 杨玉充 CAO Fan;WANG Jun;ZHANG Chichen;BAO Shanghua;XIE Jiangqi;YANG Yuchong(School of Automation,Nanjing University of Science and Technology,Nanjing 210000,Jiangsu,China)

机构地区：[1]南京理工大学自动化学院,江苏南京210000

出　　处：《上海航天（中英文）》2024年第3期159-166,共8页Aerospace Shanghai（Chinese&English）

基　　金：领域基金项目(2021-JCJQ-JJ-0883)。

摘　　要：欠驱动的机/枪一体式四旋翼飞枪位置和姿态的控制存在耦合,无法实现带俯仰角的悬停射击,移动射击过程中火控策略复杂。设计了一种全驱动的倾转四旋翼无人机,并以此作为飞枪载体,在实现系统解耦的同时,简化了控制分配方法。首先通过牛顿欧拉法对系统进行数学建模,然后利用反步法设计控制器并证明系统稳定性,最后通过Simulink进行仿真实验。实验结果表明:本文设计的全驱动飞枪模型可实现位置和姿态的解耦控制,跟踪误差小,可满足飞枪悬停射击、移动射击的射击要求,适用于实时性要求高的飞/火控系统。Owing to the coupling of position and attitude control,a conventional under-actuated quadrotor gunarmed unmanned aerial vehicle(UAV)is incapable of hovering fire with pitch angles.Besides,the fire control strategy is complicated during the mobile fire process.In this paper,a fully-actuated tilting quadrotor gun-armed UAV is designed as a gun platform,by which not only the system is decoupled but also the control allocation method is simplified.First,the system is modeled by the Newton-Euler method mathematically.Then,a controller is designed based on the backstepping approach,and the stability of the system is verified.Finally,simulation experiments are conducted with the Simulink software.The experimental results demonstrate that the fully-actuated tilting quadrotor gun-armed UAV model designed in this study can achieve decoupled control of position and attitude with a minimal tracking error.It can meet the requirements of hovering and mobile fire missions,and is suitable for flight/fire control systems with high real-time demands.

关 键 词：飞枪(UAV) 全驱动系统 倾转四旋翼无人机(UAV) 反步控制 火控 

分 类 号：V275[航空宇航科学与技术—飞行器设计]