一种鸭式布局无人机的飞行力学特性与自主控制技术研究

发布时间：2018-11-24 11:21

【摘要】：随着科技不断进步,无人机在军事领域以及民用领域的使用频率越来越高,用途越来越广,随之而来的问题就是如何提高无人机的自主飞行控制性能。无人机的飞行控制系统设计问题属于非线性控制系统设计范畴。随着近代控制技术的发展,诞生了很多将非线性系统线性化的方法。非线性动态逆方法在整个飞行器控制系统设计中具有很大的灵活性以适应飞行器模型的变化,并且能够满足像大迎角、超机动这样的非常规控制要求,因而是众多线性化方法中比较好的一种方法。本文以某小型鸭式布局无人机为研究对象,首先针对鸭式布局无人机进行控制对象建模,建立了无人机的三维模型,分析了无人机的空气动力学特性,建立了气动模型,在此基础之上推导了无人机的运动学和动力学方程;接着应用非线性动态逆方法将小型鸭式布局无人机非线性控制系统转化为线性控制系统,在此基础上研究无人机的操控方法和飞行力学特性,提出了一种基于直接位置坐标的无人机飞行轨迹控制方法,设计了无人机自主飞行控制律;最后应用MATLAB对无人机自主飞行过程进行仿真。结果表明,应用动态逆方法设计的小型鸭式布局无人机控制律两个内回路系统比较稳定,超调量小,没有振荡并且响应时间合理,而外回路可以很好地保障轨迹跟踪的准确性。
[Abstract]:With the development of science and technology, unmanned aerial vehicle (UAV) is used more and more frequently in military and civilian fields. The following problem is how to improve the autonomous flight control performance of UAV. The design of UAV flight control system belongs to nonlinear control system design. With the development of modern control technology, many methods to linearize nonlinear systems have emerged. The nonlinear dynamic inverse method has great flexibility in the design of the whole aircraft control system to adapt to the change of the aircraft model, and can satisfy the unconventional control requirements such as high angle of attack and super maneuverability. Therefore, it is a better method among many linearization methods. In this paper, a small duck layout UAV is taken as the research object. Firstly, the control object of the Duck layout UAV is modeled, the three-dimensional model of the UAV is established, the aerodynamics characteristics of the UAV are analyzed, and the aerodynamic model is established. On this basis, the kinematics and dynamics equations of UAV are derived. Then the nonlinear dynamic inverse method is used to transform the nonlinear control system of the small duck layout UAV into a linear control system. On this basis, the control method and flight mechanics characteristics of the UAV are studied. A method of UAV flight trajectory control based on direct position coordinate is proposed, and the autonomous flight control law of UAV is designed. Finally, the autonomous flight process of UAV is simulated by MATLAB. The results show that the two inner loop systems of the control law of the small duck layout UAV designed by the dynamic inverse method are stable, small overshoot, no oscillation and reasonable response time, and the external loop can guarantee the accuracy of trajectory tracking.
【学位授予单位】：南京航空航天大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：V249.1

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