基于虚拟力分析的全柔性共轴旋翼无人机路径跟踪方法  

A fully flexible coaxial rotor UAV path tracking method based on virtual force analysis

作　　者：岳鹍[1] 张月新 宋光坤 YUE Kun;ZHANG Yuexin;SONG Guangkun(School of Intelligent Engineering,Tianjin Modern Vocational Technology College,Tianjin 300350,China)

机构地区：[1]天津现代职业技术学院智能工程学院,天津300350

出　　处：《实验技术与管理》2024年第5期143-150,共8页Experimental Technology and Management

基　　金：教育部科技发展中心虚拟仿真技术在职业教育教学中的创新应用项目(ZJXF2022250);教育部教师工作司第二批国家级职业教育教学创新团队课题(ZI2021030102);中国高校产学研创新基金无人机集群协同智能项目(2021ZYA10001)。

摘　　要：随着无人机作业工况复杂性的提升,对其控制精度提出了更高要求,需结合多种因素对无人机控制系统和结构特性进行建模并开展改进研究。该文章提出了基于虚拟力分析的全柔性共轴旋翼无人机路径跟踪方法:首先,基于旋翼柔性变形的受力形变模型构建全柔性共轴旋翼无人机动力学模型;然后,依据虚拟力分析方法制定虚拟力反馈控制律,并利用长短时记忆网络实现基于虚拟力反馈无人机路径跟踪;最后,开展模型特性分析及仿真实验,验证了所提方法在抵抗外界干扰方面具有有效性和鲁棒性。[Objective]Coaxial rotor unmanned aerial vehicles(UAVs)are known for their robust driving force,flexible mobility,efficient energy use,high stability,and fault tolerance.However,their lightweight nature makes them prone to deflection by minor external forces,rendering them vulnerable to environmental factors such as airflow and gusts.At the same time,in the research of path tracking control methods for coaxial rotor UAVs,there is often a trade-off between simplicity and practical application.To address these challenges,this paper proposes a control method based on virtual force analysis to improve the anti-interference ability of coaxial rotor UAVs.[Methods]This paper establishes the dynamic model of a fully flexible coaxial rotor UAV based on a comprehensive analysis at the overall and local levels.At the overall level,the UAV is regarded as a rigid body,while at the local level,emphasis is placed on examining the flexible vibration characteristics of the connecting joint components,particularly the rotors.By analyzing the forces acting on the rotor,a deformation equation is obtained through full flexible modeling.The virtual force feedback control law is formulated based on virtual force analysis,enabling the UAV to navigate along a predetermined path while countering external interference.In addition,a long short-term memory network is used for path planning to address issues related to gradient disappearance and explosion.The algorithm unfolds in several steps:①Discarding irrelevant information from previous stages through the forgetting gate.②Filtering incoming data through the input gate and updating the cell with new information processed by the hyperbolic tangent layer.③Refreshing the data by eliminating obsolete information and filtering useful information of the input gate.④Outputting valid information after processing by the output gate.[Results]Simulation experiments commence with dynamic modeling of the UAV,followed by the design of a virtual force feedback control law that incorporates virtu

关 键 词：虚拟力 共轴旋翼无人机 路径跟踪 全柔性 控制律 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计] V279