基于预测控制和动态逆算法的翼伞飞行控制

针对传统无人机动态逆控制算法并不能完全适用于翼伞飞行控制的问题,提出了结合预测控制与动态逆的组合飞行控制算法,该算法选取偏航角及其变化速率作为控制回路,使其满足非线性动态逆的设计条件,根据内环线性反馈得到的线性模型作为预测控制模型,设计了组合飞行控制策略。仿真结果表明:组合控制算法相比非线性动态逆算法,对给定航向的跟踪具有较好的效果,验证了算法的有效性。

Parafoil Flight Control Based on Predictive Control and Dynamic Inversion Method

Aiming at the problem that traditional UAV dynamic inversion method could not entirely meet parafoil flight control,a flight control method combined predictive control and dynamic inversion was proposed.It took the yaw angle and it's variational rate as control loop input variable,which satisfied the demands of nonlinear dynamic inversion.Based on the state space model which come form inner loop after applying feedforward linearization,a combined flight control method was designed.The validity of the compos...