基于再分配伪逆的复合翼无人机飞行控制  

Redistributed scaling pseudo-inverse based hybrid VTOL UAV flight control

作　　者：王寅 谭济芸 WANG Yin;TAN Ji-yun(College of Aeronautics,Nanjing University of Aeronautics and Astronautics,Nanjing Jiangsu 211106,China)

机构地区：[1]南京航空航天大学航天学院,江苏南京211106

出　　处：《控制理论与应用》2024年第10期1765-1773,共9页Control Theory & Applications

基　　金：航空科学基金项目(20175152038)资助.

摘　　要：复合翼无人机具有固定翼和旋翼无人机的气动构型,兼有两种无人机的飞行模态.在由旋翼模式向固定翼模式的过渡过程中,气动特性复杂,操控方式变化大,操控机构耦合性强,对飞行控制的鲁棒性提出了更高的要求.本文基于再分配伪逆控制算法和增量反演控制理论,研究了一种复合翼无人机全包线飞行姿态控制方法.针对飞行过程中气动特性变化大的问题,提出了一种基于增益调度理论的增量反演姿态控制方法,能够根据飞行过程的模态特性对增量反演控制器的控制器参数进行自适应调整,并从理论上分析了所研究方法的稳定性.为解决由旋翼机模式向固定翼模式过渡中操控机构转换的问题,提出了一种缩放再分配伪逆法的操控结构最优分配方法,提高了飞行过程对于控制指令的跟踪能力.仿真结果表明,本文所提出的基于再分配伪逆的增量反演控制方法相较于直接分配的反演法能以更高飞行品质实现飞行控制,过渡飞行过程姿态跟踪误差减少39%,高度跟踪误差减少87%.The Hybrid UAV has aerodynamic configuration andflight modes of bothfixed wing and rotor wing UAVs.In transition process from rotor mode tofixed wing mode,the aerodynamic characteristics are complex,flight mode changes greatly,and the control mechanism coupling is strong,which puts forward higher requirements for the robustness offlight control method.Based on redistributed scaling pseudo-inverse algorithm and incremental back-stepping theory,an attitude control method of a Hybrid UAV is studied.Aiming at the problem that aerodynamic characteristics vary greatly duringflight,an incremental back-stepping attitude control method based on gain scheduling theory was proposed,which can adjust the controller parameters adaptively according to the modal characteristics offlight,and the stability of the proposed method was analyzed theoretically.In order to solve the problem of control mechanism transition from rotor-craft mode tofixed wing mode,an optimal control structure allocation method based on redistributed scaling pseudo-inverse method was proposed,which improved the tracking ability of control commands duringflight.The simulation results show that the incremental back-stepping control method based on redistributive pseudo-inverse can achieveflight control with higherflight quality than the direct allocation inversion method,and the attitude tracking error and altitude tracking error are reduced by 39%and 87%during transitionflight.

关 键 词：非线性系统 增量式控制 反演控制 再分配伪逆法 增益调度 

分 类 号：V279[航空宇航科学与技术—飞行器设计] V249.1