全翼布局太阳能无人机滑跑特性分析与控制 -- 西北工业大学学报,2019,37(1):7-12
论文:2019,Vol:37,Issue(1):7-12
引用本文:
马振宇, 祝小平, 周洲. 全翼布局太阳能无人机滑跑特性分析与控制[J]. 西北工业大学学报
MA Zhenyu, ZHU Xiaoping, ZHOU Zhou. Taxiing Characteristic Analysis and Control for Full-Wing Solar-Powered Unmanned Aerial Vehicle[J]. Northwestern polytechnical university

全翼布局太阳能无人机滑跑特性分析与控制
马振宇1,2, 祝小平2, 周洲3
1. 西北工业大学 航天学院, 陕西 西安 710072;
2. 西北工业大学 无人机特种技术重点实验室, 陕西 西安 710065;
3. 西北工业大学 航空学院, 陕西 西安 710072
摘要:
以全翼布局太阳能无人机为研究对象,针对其滑跑过程中没有前轮转向伺服和方向舵等进行控制的问题,提出了采用螺旋桨动力差动进行滑跑控制的方法。首先,建立了起落架前轮自由转向和前轮固支2种布局形式的全翼布局太阳能无人机滑跑模型,并对其在不同速度下的滑跑特性进行分析。然后,基于线性自抗扰控制方法设计了以螺旋桨动力差动为控制输出的偏航角控制器。最后,通过改进向量场轨迹跟踪方法,设计了适合起降滑跑的直线轨迹跟踪器。仿真结果表明,所设计的控制器能够对全翼布局太阳能无人机的起降滑跑过程进行有效控制,并具有较好的鲁棒性。
关键词:    全翼布局    太阳能无人机    螺旋桨动力差动    滑跑控制    轨迹跟踪    线性自抗扰   
Taxiing Characteristic Analysis and Control for Full-Wing Solar-Powered Unmanned Aerial Vehicle
MA Zhenyu1,2, ZHU Xiaoping2, ZHOU Zhou3
1. School of Astronautics, Northwestern Polytechnical University, Xi'an 710072, China;
2. School and Technology of Unmanned Aerial Vehicle Laboratory, Northwestern Polytechnical University, Xi'an 710065, China;
3. School of Aeronautics, Northwestern Polytechnical University, Xi'an 710072, China
Abstract:
To solve the taxiing control problem of the full-wing solar-powered unmanned aerial vehicle (UAV) without front wheel steering servo and rudder, a control approach using differential propeller thrust to control the taxiing is proposed in this paper. Firstly, the taxiing mathematical models of two kinds of full-wing solar-powered UAVs with the front wheels turning freely or fixed are established. Meanwhile, the taxiing characteristics of full-wing solar-powered UAV in different taxiing speeds are analyzed. Secondly, based on the linear active disturbance rejection control (LADRC) theory, a yaw angle controller is designed by using differential propeller thrust as the control output. Finally, a straight line trajectory tracking scheme which is suitable for take-off and landing taxiing is designed on the base of improved vector field theory. Simulation results show that the designed controller has a good control effect on full-wing solar-powered UAV's take-off and landing taxiing periods, and better robustness.
Key words:    full-wing    solar-powered UAV    differential propeller thrust    taxiing control    trajectory tracking    linear active disturbance rejection control (LADRC)    improved vector field theory    design    simulation   
收稿日期: 2018-02-01     修回日期:
DOI: 10.1051/jnwpu/20193710007
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作者简介: 马振宇(1992-),西北工业大学博士研究生,主要从事飞行器动力学与控制研究。
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