| 无人机实时飞行仿真系统的时滞补偿方法 |
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| 引用本文： | 黄国勇,甄子洋,王道波. 无人机实时飞行仿真系统的时滞补偿方法[J]. 小型微型计算机系统, 2009, 30(12) |
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| 作者姓名： | 黄国勇 甄子洋 王道波 |
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| 作者单位： | 南京航空航天大学,自动化学院,江苏,南京,210016 |
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| 基金项目： | 国家自然科学基金项目，江苏省普通高校研究生科研创新计划项目，南京航空航天大学博士学位论文创新与创优基金 |
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| 摘 要： | 针对无人机半物理仿真系统的模拟运动滞后问题,在分析无人机模型和飞行仿真转台模型的基础上,提出一种新的飞行仿真系统构建方案.基于自适应逆控制和李亚普洛夫函数,设计了能够补偿运动滞后的数字控制器.将原始无人机模型与数字控制器进行联合计算,获取无人机修正模型的输出,完成了对仿真运动滞后的补偿.仿真结果说明了时滞补偿方案的有效性.
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| 关 键 词： | 无人机 仿真系统 自适应逆控制 李亚普洛夫函数 |
Time-delay Compensation Method for UAV Real-time Flight Simulation System |
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| HUANG Guo-yong,ZHEN Zi-yang,WANG Dao-bo. Time-delay Compensation Method for UAV Real-time Flight Simulation System[J]. Mini-micro Systems, 2009, 30(12) |
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| Authors: | HUANG Guo-yong ZHEN Zi-yang WANG Dao-bo |
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| Abstract: | The problem of simulated motion delay in UAV semi-physical simulation is considered.After researching the model building of UAV emulate system and simulation table,a new scheme for building flight simulation system is presented.Firstly,a digital controller for motion delay compensation is designed by adaptive inverse control method and Lyapunov function. Secondly,the output of the modified UAV is calculated using the original UAV model and the digital controller,and the compensation for motion delay is achieved.Finally,simulation results demonstrate the effectiveness of the presented scheme of time-delay compensation. |
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| Keywords: | unmanned aerial vehicle simulation system adaptive inverse control Lyapunov function |
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