基于预测误差法的无人机安全控制器设计  

Design of UAV Safety Controller Based on Predictive Error Method

作　　者：姜燕 王道波[1] 柏婷婷[1] 张莹[1] JIANG Yan;WANG Daobo;BAI Tingting;ZHANG Ying(College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210000,China)

机构地区：[1]南京航空航天大学自动化学院,南京210000

出　　处：《电光与控制》2025年第1期90-94,共5页Electronics Optics & Control

摘　　要：具备安全性的无人机控制器是保障无人机作战完整性的重要因素之一,该控制器能够在安全的界限范围内控制无人机的飞行性能。针对无人机的安全控制器的设计问题,首先,对无人机的闭环控制系统进行分析,并采用非参数预测误差估计的方法对闭环控制系统中的执行机构模块进行辨识,以证明辨识得到的模型与实际模型无偏;其次,阐明了无人机安全性的含义,并在闭环控制系统的辨识模型的基础上,对无人机的安全控制器进行了设计;最后,以无人机飞行姿态角中的俯仰通道为例,对安全控制器性能进行了仿真验证。实验结果证明了无人机安全控制器的有效性,能够将无人机的飞行性能控制在安全范围内,为飞行安全提供保障。An Unmanned Aerial Vehicle(UAV)controller with high safety is a critical factor for ensuring the integrity of UAV combat,which is capable of regulating the UAV's flight performance within a secure operational boundary.To design a safety controller for the UAV,analysis is made on the closed-loop control system of UAV,and the nonparametric prediction error estimation method is used to identify the actuator modules in the system,thus to demonstrate that the identified model is unbiased with the actual model.Furthermore,the concept of UAV safety is clarified,and a safety controller for UAVs is designed based on the identified model of the closed-loop control system.Finally,taking the pitch channel of UAV flight attitude angles as an example,simulation is made to validate the performance of the safety controller.Experimental results affirm the effectiveness of the UAV safety controller,which can regulate the UAV's flight performance within a safe range,thereby ensuring the safety of UAV flight.

关 键 词：无人机 闭环控制系统 安全性 控制器 预测误差估计 

分 类 号：V271[航空宇航科学与技术—飞行器设计]