学术论文

      飞翼布局无人机滑跑纠偏控制

      Lateral Deviation Correction Control for Flying-Wing UAV Taxiing

      摘要:
      针对滑跑纠偏控制律对良好鲁棒性的要求,以及飞翼布局无人机地面滑跑六自由度模型非线性、多变量的特点,提出了基于自抗扰控制理论的无人机非线性滑跑纠偏控制律;由于采用了前轮转向、阻力方向舵和主轮差动刹车联合纠偏,针对控制执行机构纠偏效率在滑跑过程中变化较大,以及阻力方向舵和刹车机构兼具减速和纠偏功能的特点,提出采用加权伪逆法对偏航力矩及阻力控制指令进行动态控制分配。结果表明,自抗扰滑跑纠偏控制律能够能有效观测并补偿跑道环境影响造成的强烈干扰及侧风干扰,加权伪逆法能够对偏航力矩和阻力指令进行动态分配,并使各执行机构使用量处于正常范围以内。
      Abstract:
      Due to good robustness requirement of the control law, and the nonlinearity of six degrees?of?freedom multivariable mathematical model of flying?wing UAV, a nonlinear lateral deviation correction control law based on active disturbance rejection control technique ( ADRC) for UAV is proposed. A complex control scheme include front?wheel steering, drag rudder and main?wheel differential braking is used. Due to the efficiencies of lateral devi?ation correction control actuators vary in a large range during taxing, and drag rudder and braking having ability of both lateral deviation correction and speed reduction, weighted pseudo?inverse method is used to allot yaw moment order and drag order. Antiskid brake control law based on ADRC is designed. The simulated result show that lateral deviation correction control law based on ADRC could estimates and compensates the adverse impact of runway en?vironment and crosswind disturbance. Weighted pseudo?inverse method could allot yaw moment order and drag order dynamically.
      作者: 王彦雄 [1] 周洲 [2] 邵壮 [1] 祝小平 [3]
      Author: Wang Yanxiong [1] Zhou Zhou [2] Shao Zhuang [1] Zhu Xiaoping [3]
      作者单位: 西北工业大学 无人机特种技术重点实验室,陕西 西安,710065 西北工业大学 航空学院,陕西 西安,710065 西北工业大学 无人机研究所,陕西 西安,710065
      刊 名: 西北工业大学学报 ISTICEIPKU
      年,卷(期): 2016, 34(4)
      分类号: V249
      机标分类号: TP2 TP3
      在线出版日期: 2016年8月1日