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固定翼垂直起降无人机过渡机动优化控制分配研究
引用本文:刘真畅,唐胜景,李梦婷,王肖,郭杰.固定翼垂直起降无人机过渡机动优化控制分配研究[J].兵工学报,2019,40(2):314-325.
作者姓名:刘真畅  唐胜景  李梦婷  王肖  郭杰
作者单位:北京理工大学宇航学院,北京,100081;北京理工大学宇航学院,北京,100081;北京理工大学宇航学院,北京,100081;北京理工大学宇航学院,北京,100081;北京理工大学宇航学院,北京,100081
基金项目:航空科学基金项目(2016ZA72001)
摘    要:以一种固定翼垂直起降无人机为研究对象,研究其6自由度过渡机动非线性优化控制分配问题。基于增量动态逆(INDI)方法设计全局化控制器,并利用该方法降低控制模型中的不确定性对控制效果的影响。针对无人机控制冗余和耦合问题,在INDI基础上提出一种2级递进式优化控制分配方法,对航迹和姿态控制回路中的控制变量增量进行综合优化分配。该优化控制分配方法可以将非线性耦合控制分配问题转化为线性优化问题求解,避免了迭代计算,同时提高了求解速率。针对优化分配中的目标函数设计动态权值选取方案,使无人机能够根据任务需求和飞行状态调整优化分配侧重方向并确保优化结果的合理性。仿真结果表明,该无人机能够很好地跟踪过渡机动航迹,控制分配方法可行。

关 键 词:固定翼垂直起降无人机  过渡机动  优化控制分配  增量动态逆  直接力控制  动态加权伪逆法
收稿时间:2018-06-05

Research on Optimal Control Allocation of Fixed-wing VTOL UAVs in Transition Maneuver
LIU Zhenchang,TANG Shengjing,LI Mengting,WANG Xiao,GUO Jie.Research on Optimal Control Allocation of Fixed-wing VTOL UAVs in Transition Maneuver[J].Acta Armamentarii,2019,40(2):314-325.
Authors:LIU Zhenchang  TANG Shengjing  LI Mengting  WANG Xiao  GUO Jie
Affiliation:(School of Aerospace Engineering, Beijing Institute of Technology, Beijing 100081, China)
Abstract:A nonlinear optimal control allocation method is proposed to solve the 6-degrees-of-freedom transition maneuver control of a novel fixed-wing vertical take-off and landing (VTOL) unmanned aerial vehicle (UAV). A global controller is designed using incremental nonlinear dynamic inversion (INDI) method. INDI method can be used to reduce the influence of uncertainty in control model on control system performance. On the basis of INDI method, a two-stage cascaded optimal control allocation method is proposed to allocate the increment of control variables in flight path and attitude control loops. The proposed method can be used to transform a nonlinear coupled control allocation problem into a linear optimization problem, which avoids iterative calculation and improves solution speed. A dynamic weight strategy is designed for the weight selection in objective function. The dynamic weight strategy can adjust weights according to flight states and mission requirement, ensuring the rationality of optimal allocation results. The simulated results indicate that UAV can track transition maneuver flight path successfully, and the control allocation method is feasible.
Keywords:fixed-wing vertical take-off and landing unmanned aerial vehicle  transition maneuver  optimal control allocation  incremental nonlinear dynamic inversion  direct force control  dynamic weighted pseudo-inverse method  
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