小型固定翼无人机自主飞行控制律设计
发布时间：2018-08-14 16:09
【摘要】：无人机由于其特有的品质在军用和民用领域有着极其广阔的发展前景。提高无人机对给定航迹的跟踪能力对于提高无人机的应用前景有着重要的影响。为此本文研究无人机的航迹跟踪控制问题。主要研究内容包括以下几个方面:首先,为了便于研究,建立了完整的小型固定翼无人机的数学模型。考虑到小型无人机气流扰动速度占其巡航速度比重较大,航迹保持和控制均需考虑风扰因素,因此数学模型中给出了风力干扰模型。其次,在固定翼无人机非线性数学模型的基础上,推导了内环姿态控制传递函数,考虑到小型固定翼无人机易受扰动的特点,采用增益调度控制策略,选择若干特征点进行了内环滚转、偏航和俯仰通道的控制器设计。然后,将外环的位置保持分成纵向高度通道、侧向航向通道以及空速通道分别进行研究。考虑到无人机飞行空速易变,高度的保持与飞行空速依赖关系紧密所以将高度和飞行空速作为整体进行控制,并根据偏离给定高度大小的不同,设计了分段控制的高度保持策略。航向通道作为对无人机执行任务有重要影响的一环,设计了增益调度控制策略。为了解决小型固定翼无人机在气流扰动情况下的制导问题,采用矢量场制导方法,根据Dubins航迹飞行的特点设计了直线及圆弧航迹的跟踪策略。最后,设计了由PC/104及工业控制计算机组成的小型固定翼无人机控制算法验证半实物实时仿真平台,对半实物实时平台的实时性、数据通信技术以及多线程技术进行了研究,并对设计的全部算法进行仿真分析。仿真的结果表明设计的控制器在扰动情况下有良好的控制效果,在风干扰情况下设计的矢量场制导方法能够实现对Dubins航迹的跟踪。
[Abstract]:Unmanned aerial vehicle (UAV) has a broad prospect in military and civilian fields because of its unique quality. Improving the tracking ability of UAV to a given track has an important influence on the application prospect of UAV. Therefore, the track tracking control of UAV is studied in this paper. The main research contents include the following aspects: firstly, a complete mathematical model of small fixed-wing UAV is established to facilitate the research. Considering the large proportion of the airflow disturbance velocity to the cruise velocity of the small UAV, the wind disturbance model is given in the mathematical model because the wind disturbance factors should be taken into account in the track maintenance and control. Secondly, on the basis of nonlinear mathematical model of fixed-wing UAV, the transfer function of internal loop attitude control is derived. Considering the characteristics of small fixed-wing UAV, the gain scheduling control strategy is adopted. Some characteristic points are selected to design the controller for inner ring rolling, yaw and pitch channel. Then, the position of the outer loop is divided into longitudinal altitude channel, lateral heading channel and space velocity channel. Considering that the flight speed of UAVs is variable and that altitude maintenance is closely dependent on flight airspeed, altitude and airspeed are controlled as a whole, depending on the size of the deviation from a given altitude, The height retention strategy of subsection control is designed. As an important part of UAV mission execution, a gain scheduling control strategy is designed. In order to solve the guidance problem of small fixed-wing UAV under the condition of airflow disturbance, the tracking strategy of straight line and arc track is designed according to the characteristics of Dubins track flight using vector field guidance method. Finally, a real-time simulation platform is designed, which is composed of PC/104 and industrial control computer. The real-time, data communication technology and multi-thread technology of the real-time platform are studied. All the algorithms are simulated and analyzed. The simulation results show that the controller has a good control effect under disturbance, and the vector field guidance method designed under wind disturbance can track the track of Dubins.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：V279;V249.1
本文编号：2183402
[Abstract]:Unmanned aerial vehicle (UAV) has a broad prospect in military and civilian fields because of its unique quality. Improving the tracking ability of UAV to a given track has an important influence on the application prospect of UAV. Therefore, the track tracking control of UAV is studied in this paper. The main research contents include the following aspects: firstly, a complete mathematical model of small fixed-wing UAV is established to facilitate the research. Considering the large proportion of the airflow disturbance velocity to the cruise velocity of the small UAV, the wind disturbance model is given in the mathematical model because the wind disturbance factors should be taken into account in the track maintenance and control. Secondly, on the basis of nonlinear mathematical model of fixed-wing UAV, the transfer function of internal loop attitude control is derived. Considering the characteristics of small fixed-wing UAV, the gain scheduling control strategy is adopted. Some characteristic points are selected to design the controller for inner ring rolling, yaw and pitch channel. Then, the position of the outer loop is divided into longitudinal altitude channel, lateral heading channel and space velocity channel. Considering that the flight speed of UAVs is variable and that altitude maintenance is closely dependent on flight airspeed, altitude and airspeed are controlled as a whole, depending on the size of the deviation from a given altitude, The height retention strategy of subsection control is designed. As an important part of UAV mission execution, a gain scheduling control strategy is designed. In order to solve the guidance problem of small fixed-wing UAV under the condition of airflow disturbance, the tracking strategy of straight line and arc track is designed according to the characteristics of Dubins track flight using vector field guidance method. Finally, a real-time simulation platform is designed, which is composed of PC/104 and industrial control computer. The real-time, data communication technology and multi-thread technology of the real-time platform are studied. All the algorithms are simulated and analyzed. The simulation results show that the controller has a good control effect under disturbance, and the vector field guidance method designed under wind disturbance can track the track of Dubins.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：V279;V249.1
【参考文献】
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