小型柔性翼飞行器巡航段飞行控制系统设计

发布时间：2018-06-20 18:15

本文选题：小型柔性翼飞行器 + 飞行器建模　；参考：《北京理工大学》2016年硕士论文

【摘要】：本文针对实验室试制的小型柔性翼飞行器,设计了它的飞行控制系统,使其在巡航飞行阶段能够按航路点自主飞行。首先,本文对小型柔性翼飞行器进行了动力学建模。说明了柔性翼工程样机建模时使用刚性飞行器动力学模型的原因。样机的气动系数通过飞行试验和气动软件计算相结合的方法确定。利用6DOF飞行器模型进行了配平,通过比对试验结果证明了配平结果的精确性。以稳定平飞状态上的某点为特征点建立了样机横纵向解耦的状态空间方程并对样机的无控扰动响应进行了分析。然后,针对小型柔性翼无人飞行器在巡航段的控制需求,提出了巡航段飞控系统的总体架构方案。对方案中的各个飞控分系统设计了相应的控制回路,建立了控制回路中已知环节的传递函数。根据动态响应的指标要求,设计了控制回路中各控制器的参数,得到了小型柔性翼飞行器的各通道控制律。为了验证控制律在各通道耦合的非线性动力学模型上使用的有效性,搭建了基于MATLAB Simulink的航迹仿真程序,设计特定的仿真实验,对控制律的有效性进行了验证。此外,还对基于传递函数的SISO控制回路仿真和基于6DOF动力学模型的仿真结果进行了比较。最后,为了实现小型柔性翼飞行器的控制律,搭建了嵌入式飞控系统。针对飞控系统的功能,设计了飞控系统的硬件架构,进行了各组件的选型;设计了飞控软件的总体架构并详细编写了各软件模块的代码。使用同级别的航模飞行器对该嵌入式飞控系统进行了测试飞行试验,验证了嵌入式飞控系统设计的合理性以及对小型固定翼飞行器控制的有效性。
[Abstract]:In this paper, a flight control system is designed for the small flexible wing aircraft, which is manufactured in the laboratory, so that it can fly independently according to the route point in the cruise flight stage. Firstly, the dynamic modeling of a small flexible wing vehicle is carried out in this paper. The dynamic model of rigid aircraft is used in the modeling of flexible wing engineering prototype. The aerodynamic coefficient of the prototype is determined by the combination of flight test and aerodynamic software calculation. The 6 DOF aircraft model is used to balance the plane, and the accuracy of the leveling result is proved by comparing the experimental results. The state space equation of horizontal and longitudinal decoupling of the prototype is established and the uncontrollable disturbance response of the prototype is analyzed by taking a point in the stable flat-flight state as the characteristic point. Then, according to the control requirement of the small flexible wing unmanned aerial vehicle in the cruise section, the overall architecture of the cruise section flight control system is proposed. The corresponding control circuits are designed for each flight control subsystem in the scheme, and the transfer function of known links in the control loop is established. According to the requirements of dynamic response, the parameters of each controller in the control loop are designed, and the control laws of each channel of the small flexible wing aircraft are obtained. In order to verify the effectiveness of the control law used in the nonlinear dynamic model with coupling of each channel, a track simulation program based on MATLAB Simulink is built, and a specific simulation experiment is designed to verify the effectiveness of the control law. In addition, the simulation results of SISO control loop based on transfer function and 6 DOF dynamics model are compared. Finally, in order to realize the control law of small flexible wing aircraft, an embedded flight control system is built. Aiming at the function of the flight control system, the hardware structure of the flight control system is designed, the selection of each component is carried out, the overall structure of the flight control software is designed and the code of each software module is written in detail. The flight test of the embedded flight control system is carried out by using the same flight model aircraft, which verifies the rationality of the design of the embedded flight control system and the effectiveness of the control of the small fixed-wing aircraft.
【学位授予单位】：北京理工大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：V249.1

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