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论文:2016,Vol:34,Issue(1):79-84 |
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引用本文： |
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闫冰, 吴成富, 邵朋院, 程鹏飞. 基于遗传算法的半开环单侧副翼卡死控制[J]. 西北工业大学学报 |
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Yan Bing, Wu Chengfu, Shao Pengyuan, Cheng Pengfei. A Method for Semi-Open Loop control of Single Aileron Jam Based on Genetic Algorithm[J]. Northwestern polytechnical university |
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| 基于遗传算法的半开环单侧副翼卡死控制 |
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| 闫冰, 吴成富, 邵朋院, 程鹏飞 |
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| 西北工业大学 无人机特种技术重点实验室, 陕西 西安 710072 |
| 摘要: |
| 无人机副翼卡死会严重影响无人机的操纵性和安全性。针对单侧副翼极限位置卡死故障,提出了一种根据侧滑配平的半开环控制方法,该方法在不引入侧滑角反馈的情况下,通过侧滑角指令与洗出网络代替偏差量,利用副翼和方向舵产生一定的侧滑角来平衡滚转力矩。首先,分析了在不同侧滑下配平卡死故障的可能性,并提出了半开环控制方案; 然后,基于经典 PID结构研究了侧滑角指令生成和控制的方法;最后,为了改善半开环系统的性能,通过遗传算法对参数进行优化。仿真结果表明通过遗传寻优的半开环控制方案能使无人机在单副翼极限卡死时快速稳定,恢复操纵性能,该方案具有一定的可行性和合理性。 |
| 关键词:
无人机
副翼极限卡死
半开环
侧滑角
洗出网络
遗传算法
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| A Method for Semi-Open Loop control of Single Aileron Jam Based on Genetic Algorithm |
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| Yan Bing, Wu Chengfu, Shao Pengyuan, Cheng Pengfei |
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| State Key Laboratory of UAV Special Technology at Northwestern Polytechnical University, Xi'an 710072, China |
| Abstract: |
| The aileron jam of an unmanned aerial vehicle (UAV) seriously affects its flight safety and maneuverability. This paper studies the UAV that has a single aileron jam at its extreme position and then proposes a semi-open loop control method based on sideslip trimming. Without introducing the feedback of a sideslip angle, the method uses the sideslip instruction and washout network instead of deviation in order to balance the rolling moment with the sideslip generated by the aileron and rudder of the UAV. The paper first studies different sideslips that may trim jam faults and proposes the semi-open loop control method. Then it presents the sideslip instruction generation and control method based on the classical PID structure. Finally, in order to enhance the performance of semi-open loop control system, it uses the genetic algorithm to optimize its parameters. The simulation results show that the semi-open loop control method based on the genetic algorithm can quickly stabilize the UAV and recover its operation performance when the single aileron jam occurs, indicating that the control method is feasible and reasonable. |
| Key words:
ailerons
attitude control
controllers
cost functions
genetic algorithms
safety engineering
unmanned aerial vehicles (UAV)
semi-open loop control
sideslip angle
single aileron jam
washout network
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| 收稿日期: 2015-09-12
修回日期:
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| DOI: |
| 通讯作者:
Email： |
| 作者简介: 闫冰(1990-),女,西北工业大学博士研究生,主要从事飞行控制与仿真技术研究。
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参考文献: |
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[1] 王娜,席剑辉,黄宇,等. 无人机单副翼有限卡死时荷兰滚运动分析[J]. 仪器仪表学报,2009,30(6):838-842 Wang Na, Xi Jianhui, Huang Yu, et al. Analysis on Dutch Roll Modal of Unmanned Aerial Vehicle with the Limited Deadlocking of Single Aileron[J]. Chinese Journal of Scientific Instrument, 2009,30(6):838-842 (in Chinese)
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[6] Matt Sorgenfrei, Sanjay S. Joshi, Amit K. Sanyal. On the Performance of a Genetic Algorithm for Spacecraft Controller Gain Optimization[R]. AIAA 2013-5029 |
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