小型旋翼无人机潜射控制器设计

吴江; 陈恩民; 高翼捷; 刘一芃; 高鑫; 夏洁

doi:10.13700/j.bh.1001-5965.2020.0281

小型旋翼无人机潜射控制器设计

doi: 10.13700/j.bh.1001-5965.2020.0281

北京航空航天大学自动化科学与电气工程学院, 北京 100083

详细信息

作者简介:
吴江  男, 博士, 副教授。主要研究方向: 导航制导与控制

陈恩民  男, 硕士研究生。主要研究方向: 导航制导与控制

高翼捷  女, 硕士研究生。主要研究方向: 导航制导与控制

夏洁  女, 博士, 副教授。主要研究方向: 导航制导与控制

通讯作者:
夏洁. E-mail: xiaj@buaa.edu.cn

中图分类号: TP273⁺.2
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出版历程
- 收稿日期: 2020-06-18
- 录用日期: 2020-07-17
- 网络出版日期: 2021-02-20

Design of underwater-launched controller for small rotor UAV

School of Automation Science and Electrical Engineering, Beihang University, Beijing 100083, China

More Information

Corresponding author: XIA Jie. E-mail: xiaj@buaa.edu.cn

摘要

摘要:
小型旋翼无人机在潜射过程中的弹射和姿态控制直接影响着潜射工程任务的成败。针对小型旋翼无人机在潜射过程中姿态难以快速调整、发射初始姿态易受海浪干扰等问题，提出一种无人机潜射系统的控制方案。采用带有矢量控制的助推火箭来调整无人机在发射段的姿态，并通过海浪预测模型优化无人机发射时间窗口；针对小型旋翼无人机在弹出后旋翼展开时的姿态不稳定问题，采用基于L1自适应控制方法的姿态控制律进行无人机的增稳设计。仿真结果表明：助推火箭的矢量控制发动机能够在2s内快速调整无人机的俯仰姿态，设计的L1自适应姿态控制律能够在无人机旋翼展开的2s内实现俯仰姿态的稳定控制，并且对潜射场景中气动参数的不确定变化具有一定的鲁棒性。
- 潜射无人机 /
- 水下发射 /
- 火箭助推弹射 /
- 展开转子 /
- 姿态控制
Abstract:
The attitude stability of the underwater-launched small rotor UAV directly affects the result of the entire submarine launch task. Aimed at the problems that the rotor UAV's attitude is difficult to adjust quickly during the launching period, and the initial launch attitude is easily interfered by ocean waves, a novel control scheme for the UAV underwater-launched system is proposed. Meanwhile, this paper specifically uses a booster rocket with a vector control engine to adjust the attitude of the UAV in the launch period, and optimize the UAV launch time by the ocean waves' attitude prediction model. Aimed at the problem of the unstable attitude of the rotor UAV when the rotor unfolds after the launch, the attitude control law based on the L1 adaptive method is designed for stability augmentation. Simulation results show that the vector control engine of the booster rocket can quickly adjust the pitch attitude of the UAV within 2 s. The designed L1 adaptive attitude control law can complete the stable control of the pitch attitude within 2 s when the rotor unfolds, and has robustness to the uncertain changes of aerodynamic parameters in the submarine launch.
- underwater-launched UAV /
- underwater-launched /
- rocket-assisted ejection /
- unfolded rotor /
- attitude control

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图 1 旋翼无人机潜射过程

Figure 1. Block diagram of underwater-launched process of rotor UAV

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图 2 动力闭环系统结构

Figure 2. Structure diagram of dynamic closed-loop system

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图 3 纵列式旋翼无人机受力分析

Figure 3. Force analysis diagram of tandem rotor UAV

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图 4 波高

Figure 4. Height of wave

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图 5 波倾角

Figure 5. Slope of wave

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图 6 长短期记忆学习网络

Figure 6. Long short-term memory learning network

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图 7 波倾角预测结果

Figure 7. Prediction results of slope of wave

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图 8 俯仰通道控制原理图

Figure 8. Schematic diagram of pitch channel control

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图 9 旋翼无人机纵、横侧向分离运动的特征根

Figure 9. Horizontal and vertical separation motion characteristic roots of rotor UAV

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图 10 L1自适应控制结构示意图

Figure 10. Schematic diagram of L1 adaptive control structure

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图 11 姿态角变化曲线比较

Figure 11. Comparison of attitude angle change curves

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图 12 高度变化曲线比较

Figure 12. Comparison of height change curves

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图 13 俯仰通道输出响应

Figure 13. Output response of pitch channel

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图 14 滚转通道输出响应

Figure 14. Output response of roll channel

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图 15 偏航通道输出响应

Figure 15. Output response of yaw channel

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图 16 旋翼无人机潜射过程高度变化

Figure 16. Height of rotor UAV during underwater- launched process

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图 17 旋翼无人机潜射过程俯仰角变化

Figure 17. Pitch angle of rotor UAV during underwater- launched process

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