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文中针对飞翼无人机因其宽泛的飞行包线和特殊的布局带来的飞行控制技术难点,给出了一种自适应串级自抗扰飞翼无人机宽包线控制算法。首先,推导了适用于该算法的弹性飞翼无人机的非线性数学模型;其次,分别设计了弹性飞翼无人机的内环和外环自抗扰姿态控制器。自适应自抗扰控制器利用扩张状态观测器进行估计并动态反馈补偿,再利用NLSEF抑制补偿残差;不需要无人机精确的模型参数,也无需精确的气动参数及摄动界限。仿真分析显示所设计的自适应自抗扰控制器较好地解决了弹性飞翼无人机从低空低速到高空高速的鲁棒控制,能够克服干扰及气动模态参数大范围摄动的影响。
Aiming at the difficulty of flight control technology of flying wing UAV due to its wide flight envelope and special layout, an adaptive tandem anti-jamming wide-line envelope control algorithm for flying wing UAV is presented. Firstly, the nonlinear mathematical model of the flexible flying-wing UAV which is suitable for the algorithm is deduced. Secondly, the attitude controller of inner-loop and outer-loop self-reactive disturbances of flexible flying-wing UAV are designed respectively. The ADRC controller uses the extended state observer to estimate and dynamically feed back the compensation, and then use NLSEF to suppress the compensation residual; it does not need the accurate model parameters of the UAV or the accurate aerodynamic parameters and the perturbation limits. Simulation analysis shows that the designed adaptive ADRC controller can solve the robust control of EHV UAV from low altitude to high altitude, and can overcome the influence of disturbance and large-scale perturbation of aerodynamic mode parameters.