民用无人机姿态稳定与航迹跟踪控制策略研究 -- 西北工业大学学报,2018,36(2):382-387
论文:2018,Vol:36,Issue(2):382-387
引用本文:
冯军红, 俆开俊, 林娜. 民用无人机姿态稳定与航迹跟踪控制策略研究[J]. 西北工业大学学报
Feng Junhong, Xu Kaijun, Lin Na. Attitude Stabilization and Trajectory Tracking Control Strategy for Civil UAV[J]. Northwestern polytechnical university

民用无人机姿态稳定与航迹跟踪控制策略研究
冯军红, 俆开俊, 林娜
中国民航飞行学院 飞行技术学院, 四川 广汉 618307
摘要:
针对民用无人机功能载荷多变及复杂环境下姿态振荡和航迹跟踪误差,采用区间系统控制理论和动态跟踪误差最小化原理,设计了一种民用无人机内外环分层控制策略,可分别实现内环姿态稳定和外环航向跟踪功能,进而解决现有无人机大范围模型变化的控制效果恶化和航迹误差缺陷。仿真结果表明,所采用的分层组合控制策略可以保证无人机飞行过程的状态稳定和有效的航迹跟踪精度,具有较高的闭环鲁棒性,有助于开发高效且自动化的民用无人机系统飞行控制策略。
关键词:    民用无人机    飞行姿态    区间系统    稳定控制    航迹跟踪   
Attitude Stabilization and Trajectory Tracking Control Strategy for Civil UAV
Feng Junhong, Xu Kaijun, Lin Na
School of Flight Technology, Civil Aviation Flight University of China, Guanghan 618307, China
Abstract:
To remove the funitional payload variation, the attitude oscillation and trajectory tracking error of civil UAV in complex environment, a combined inner and outer control strategy for the civil UAV is designed based on the interval system control theory and dynamic tracking error minimization principle, which can guarantee the attitude stabilization in inner loop and the heading tracking in outer loop, thus solving the control effect deterioration and trajectory error drawback of the existing UAV with large scale model variation. The simulation results show that, the proposed combined control strategy can keep flight state's stabilization and effective trajectory tracking with good closed-loop robustness. This study is useful to develop effective and automatic civil UAV system's flight control strategy.
Key words:    civil UAV    flight attitude    interval system    stability control    trajectory tracking    control    unmanned aerial vehicles   
收稿日期: 2017-06-02     修回日期:
DOI:
基金项目: 国家自然科学基金民航联合基金(U1533127)与中国民航飞行学院科研创新团队项目(JG2016-26)资助
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作者简介: 冯军红(1981-)中国民航飞行学院讲师,主要从事空中领航、现代导航研究。
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