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针对样例飞翼布局无人机航向不稳定并且拥有多组气动操纵面的特点,首先利用神经网络建立无人机逆模型,实现控制指令到多舵面之间的映射。在此基础上从滚转通道和偏航通道分析了蛇形机动控制原理,设计了基于线性最优二次型鲁棒控制和PI控制相结合的蛇形机动控制律,在实现滚转角和航迹角快速响应的同时快速消除侧滑角。从仿真结果来看,该控制律能够有效抵御外界干扰,维持系统的响应品质,保证控制的稳定性和鲁棒性。
Aiming at the unstable flight direction of the flying wing and the multi-group pneumatic control surface, the neural network is used to build the inverse model of the UAV to realize the mapping between control command and multiple rudder surfaces. On this basis, the control principle of serpentine motor is analyzed from the rolling channel and the yaw channel, and the serpentine motor control law based on linear optimal quadratic robust control and PI control is designed. In the realization of roll angle and navigation Trace angle fast response while quickly eliminating the slip angle. From the simulation results, the control law can effectively resist outside interference, maintain the system response quality, and ensure the stability and robustness of the control.