某型固定翼无人机飞控系统的设计与仿真

发布时间：2018-11-03 07:53

【摘要】：近年来，随着无人机在军事和民用的应用范围不断扩大，无人机在执行任务时方便、安全、低成本的优点得到了很好的体现。飞行控制系统是无人机的核心，是无人机能够高效完成飞行任务的关键。有关无人机飞行控制系统的研究也受到了某些科研院所、高校和公司越来越多的关注。传统的控制方法采用PID控制，并成功应用于无人机实际飞行中，本文以航磁探测无人机为例，介绍了飞行控制系统的组成和控制器设计，并在此基础上，提出基于多模型控制的无人机飞行控制方法。首先，简述了无人机及其飞行控制系统的发展，对当前飞行控制中采用的一些控制方法进行了一定的分析和比较，并介绍了无人机数学模型的建立及其线性化方法。其次，以实验室航磁探测无人机飞行控制系统为例，介绍了固定翼无人机飞行控制系统的组成，对地面站系统以及机载控制系统做了一定的分析。并重点介绍了常规布局的固定翼无人机自动驾驶仪的控制律设计以及导航控制策略，，通过引入内环角速率反馈设计了高度、速度和航向控制回路，使得无人机按照预先设置好的指令完成飞行任务，通过外出实际飞行实验，验证了设计的基于PID控制的飞行控制系统控制性能，能够满足课题任务的控制要求。然后，针对PID控制的一些不足，提出了多模型控制方法。另因空气动力参数等原因，无法建立实验室无人机准确的数学模型，所以本文以各项实验参数公开的美国F-16战斗机为控制对象，建立多个飞机模型，并根据这些模型建立相应的控制器，探究了多模型控制方法在固定翼无人机飞行控制中的应用，仿真结果验证了该方法在无人机飞行控制中的有效性，为后面进一步研究多模型控制在无人机中的应用提供了一种参考。最后，针对所做的内容进行了总结与分析，结合实验室课题以及实际调试经验，提出了今后研究的重点和方向。
[Abstract]:In recent years, with the increasing application of UAV in military and civilian applications, the advantages of convenience, safety and low cost of UAV are well reflected. Flight control system (FCS) is the core of UAV and the key of UAV to accomplish flight mission efficiently. The research on UAV flight control system has been paid more and more attention by some research institutes, universities and companies. The traditional control method adopts PID control, and is successfully applied in the actual flight of UAV. This paper introduces the composition and controller design of flight control system, taking aeromagnetic detection UAV as an example, and on this basis, A flight control method for UAV based on multi-model control is proposed. Firstly, the development of UAV and its flight control system is briefly introduced, and some control methods used in flight control are analyzed and compared, and the mathematical model of UAV and its linearization method are introduced. Secondly, taking the aeromagnetic detection UAV flight control system as an example, the composition of the fixed-wing UAV flight control system is introduced, and the ground station system and the airborne control system are analyzed. The control law design and navigation control strategy of the fixed wing UAV autopilot with conventional layout are emphatically introduced. The altitude, speed and course control loop are designed by introducing the inner loop angular rate feedback. It makes the UAV complete the flight mission according to the pre-set instructions. The flight control system based on PID control is verified by the actual flight experiment, which can meet the control requirements of the task. Then, aiming at some shortcomings of PID control, a multi-model control method is proposed. Because of aerodynamic parameters and other reasons, it is not possible to establish an accurate mathematical model of the UAV in the laboratory. Therefore, in this paper, the American F-16 fighter aircraft with various experimental parameters are taken as the control object, and several aircraft models are established. According to these models, the corresponding controllers are established, and the application of multi-model control method in the flight control of fixed-wing UAV is explored. The simulation results verify the effectiveness of the method in UAV flight control. It provides a reference for the further study of the application of multi-model control in UAV. Finally, the contents are summarized and analyzed, and the emphasis and direction of the future research are put forward based on the laboratory project and the practical debugging experience.
【学位授予单位】：北京理工大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：V279

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