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论文:2015,Vol:33,Issue(1):33-39 |
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引用本文： |
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吴成富, 闫冰, 邵朋院. 基于模糊控制的无人机滑跑起飞控制方法研究[J]. 西北工业大学学报 |
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Wu Chengfu, Yan Bing, Shao Pengyuan. Exploring Taxiing Take-off Control for Unmanned Aerial Vehicle (UAV) Based on Fuzzy Control[J]. Northwestern polytechnical university |
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| 基于模糊控制的无人机滑跑起飞控制方法研究 |
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| 吴成富, 闫冰, 邵朋院 |
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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 710065 |
| 摘要: |
| 针对三点式起落架无人机建立了地面滑跑的非线性数学模型,提出了总体的滑跑起飞控制方案,包括横侧向的滑跑纠偏控制律和纵向升降舵配合控制律。横侧向采用侧向偏差和侧向速度组合的控制结构,通过前轮和方向舵联动方式实现,并在经典的PID控制器的基础上进行改进,设计了模糊控制器;纵向根据飞机滑跑段的性能分析,给出纵向控制方案,通过升降舵配合实现。仿真结果表明,模糊控制器对非线性较大的系统有较好的控制能力,侧偏和速度组合的控制结构纠偏效果明显,起飞过程平稳,滑跑起飞控制方案有一定的可行性和合理性。 |
| 关键词:
无人机
滑跑数学模型
模糊控制
滑跑起飞控制方案
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| Exploring Taxiing Take-off Control for Unmanned Aerial Vehicle (UAV) Based on Fuzzy Control |
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| Wu Chengfu, Yan Bing, Shao Pengyuan |
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| State Key Laboratory of UAV Special Technology at Northwestern Polytechnical University, Xi'an 710065, China |
| Abstract: |
| The safe take-off and landing of UAV are bottleneck issue for its development. We establish the mathematical model of taxiing take-off of a UAV with three-wheel landing gears and propose its overall taxiing take-off control scheme that includes the lateral taxiing deviation correction control law and the rudder longitudinal control law. To eliminate lateral deviation and lateral velocity, the lateral taxiing deviation correction control law has the interpolated variant-parameter PID controller and the fuzzy controller, with the front wheel cooperating with the rudder. The implementation of longitudinal control law is assisted by the elevator according to the UAV taxiing performance. The simulation results, given in Fig. 8, and their analysis show preliminarily that the taxiing take-off control scheme we designed has good control performance for large nonlinear systems and can effectively correct lateral taxiing deviation. Thus the UAV takes off smoothly; the taxiing take-off control scheme is reasonable and feasible. |
| Key words:
UAV
mathematic model
fuzzy control
taxiing take-off control scheme
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| 收稿日期: 2014-09-12
修回日期:
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| DOI: |
| 通讯作者:
Email： |
| 作者简介: 吴成富(1962-),西北工业大学教授、博士生导师,主要从事无人机导航制导与控制的研究。
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| 作者相关文章 |
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| 吴成富 在本刊中的所有文章 |
| 闫冰 在本刊中的所有文章 |
| 邵朋院 在本刊中的所有文章 |
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参考文献: |
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[1] Am Cho, Jihoon Kim, Sanghyo Lee. Fully Automatic Taxiing, Takeoff and Landing of a UAV only with a Single-Antenna GPS Receiver[R]. AIAA-2007-2775
[2] 熊华,易建强,范国梁,等.无人机滑跑段地面支撑力推导及仿真验证[J].系统仿真学报, 2008, 20(suppl 2):311-316 Xiong Hua, Yi Jianqiang, Fan Guoliang, et al. Analysis and Simulation of the Supporting Forces over UAV during Taxiing[J]. Journal of System Simulation, 2008, 20(suppl 2):311-316(in Chinese)
[3] 陈晨,周洲.无人机滑跑起飞过程及其数学模型研究[J].科学技术与工程, 2007, 7(13):3198-3201 Chen Chen, Zhou Zhou. Process and Mathematic Model Study of a UAV during Taxing and Takeoff[J]. Science Technology and Engineering, 2007, 7(13):3198-3201(in Chinese)
[4] 季丽丽.轮式无人机自主着陆控制技术研究[D].南京:南京航空航天大学, 2012 Ji Lili. Research on Control System Design of Auto Landing for Unmanned Aerial Vehicle[D]. Nanjing, Nanjing University of Aeronautics and Astronautics, 2012(in Chinese)
[5] 宁东方,章卫国,田娜.无人机自动起飞系统建模和控制律设计研究[J].计算机测量与控制, 2008, 16(1):66-70 Ning Dongfang, Zhang Weiguo, Tian Na. Research on Modelingand Control Law Design of Auto Take-off of UAV[J]. Computer Measurement & Control, 2008, 16(1):66-70(in Chinese)
[6] Bo L, Zongxia J, Shaoping W. Research on modeling and simulation of aircraft taxiing rectification[C]//IEEE Conference on Robotics, Automation and Mechatronics, 2006:1-5 |
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