基于滤波反步法的共轴双旋翼无人机控制  

Control of coaxial dual-rotor UAV based on filtered backstepping method

作　　者：王子龙 贾杰[1] 张帆[1] 邱建鹏 黄斌 WANG Zilong;JIA Jie;ZHANG Fan;QIU Jianpeng;HUANG Bin(College of Information Engineering,Nanchang Hangkong University,Nanchang 330036,China;Jiangxi Guoke Defence Group Co.,Ltd.,Nanchang 330012,China)

机构地区：[1]南昌航空大学信息工程学院,江西南昌330036 [2]江西国科军工集团股份有限公司,江西南昌330012

出　　处：《飞行力学》2024年第6期31-35,49,共6页Flight Dynamics

基　　金：江西省重大科技研发专项基金资助(20214ABC28W002)。

摘　　要：针对炮射共轴双旋翼无人机的姿态控制问题,基于炮射条件下无人机姿态、速度等参数与执行机构到桨叶的运动状态之间的映射关系,采用低通滤波器设计了反步滑模控制律。根据该无人机的炮射使用条件,使用多初始条件下适应度计算的遗传算法进行参数整定。该控制系统具有强鲁棒、高动态和高精度的特性,能够满足该类型无人机弹射飞行等要求。经仿真验证,控制性能优良,姿态稳态误差在0.4°以内。Aiming at the attitude control problem of the gun-fired coaxial dual-rotor UAV,based on the mapping relationship between the attitude,speed and other parameters of the UAV and the motion state of the actuator to the blade under the gun-fired condition,a backstepping sliding mode control law was designed by using a low-pass filter.According to the firing conditions of the UAV,the genetic algorithm for fitness calculation under multiple initial conditions is used to tune the parameters.The control system has the characteristics of strong robustness,high dynamic and high precision,which can meet the requirements of this type of UAV ejection flight.The simulation results show that the control performance is excellent,and the attitude steady-state error is less than 0.4°.

关 键 词：共轴双旋翼无人机 滤波反步法 遗传算法 姿态控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] V279[自动化与计算机技术—控制科学与工程] V249.1[航空宇航科学与技术—飞行器设计]