变质心固定翼无人机动力学分析与抗扰控制

邱潇颀; 高长生; 荆武兴

doi:10.13700/j.bh.1001-5965.2020.0573

变质心固定翼无人机动力学分析与抗扰控制

doi: 10.13700/j.bh.1001-5965.2020.0573

哈尔滨工业大学航天学院，哈尔滨 150001

基金项目:

国家自然科学基金 11572097

详细信息

通讯作者:
高长生, E-mail: gaocs@hit.edu.cn

中图分类号: V249.1
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- 文章访问数: 392
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- PDF下载量: 97
- 被引次数: 0
出版历程
- 收稿日期: 2020-10-09
- 录用日期: 2020-12-21
- 网络出版日期: 2022-03-20

Dynamic analysis and disturbance rejection control of mass-actuated fixed-wing UAV

School of Astronautics, Harbin Institute of Technology, Harbin 150001, China

Funds:

National Natural Science Foundation of China 11572097

More Information

Corresponding author: GAO Changsheng, E-mail: gaocs@hit.edu.cn

摘要

摘要:
变质心无人机具有气动效率更高、隐身性能更好、机翼结构更加简单等优点。提出了时滞更小、结构更加简单的单滑块变质心无人机布局方案，分析了滑块参数对变质心无人机动力学特性的影响，在此基础上给出了滑块的理想安装位置，并研究了变质心无人机布局方案控制效率随速度的变化情况。针对变质心无人机强耦合、强非线性的特点，基于粒子群算法(PSO)设计了自抗扰控制器(ADRC)，其中扩张状态观测器估计出包含耦合和参数摄动的总和扰动项，并基于此进行动态补偿。仿真结果验证了所设计控制器的有效性和鲁棒性。
- 变质心控制 /
- 固定翼无人机 /
- 自抗扰控制(ADRC) /
- 粒子群算法(PSO) /
- 非线性动力学
Abstract:
Mass-actuated UAVs have the advantages of higher aerodynamic efficiency, better stealth performance and simpler wing structure. This paper proposes a single-slider mass-actuated UAV layout scheme with smaller time delay and simpler structure, and analyzes the influence of the slider parameters on the dynamical characteristics of the UAV. On this basis, the ideal installation position of the slider is given, and the change of the control efficiency of the mass-actuated scheme with the speed is studied. Aimed at the characteristics of strong coupling and nonlinearity of the mass-actuated UAV, an active disturbance rejection controller (ADRC) is designed based on the particle swarm optimization algorithm (PSO). The expanded state observer estimates the total disturbance term including coupling and parameter perturbation, and performs dynamical compensation at the same time. The simulation results confirm that the designed controller has good robustness and effectiveness.
- mass-actuated control /
- fixed-wing UAV /
- active disturbance rejection control (ADRC) /
- particle swarm optimization algorithm (PSO) /
- nonlinear dynamics

HTML全文

图 1 变质心固定翼无人机简图

Figure 1. Sketch of mass-actuated fixed-wing UAV

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图 2 文献[25]中的双滑块方案

Figure 2. Dual-slider scheme in Ref.[25]

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图 3 纵向动态特性区域分布

Figure 3. Area distribution of longitudinal dynamic characteristics

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图 4 效率系数随速度变化曲线

Figure 4. Efficiency coefficient versus airspeed

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图 5 控制器结构

Figure 5. Structure of controller

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图 6 姿态角跟踪结果

Figure 6. Tracking results of attitude angles

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图 7 控制信号曲线

Figure 7. Control signal curves

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图 8 扩张状态观测器估计误差

Figure 8. Estimation error of ESO

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图 9 工况3下的扩张状态观测器性能

Figure 9. Performance of ESO under Condition 3

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表 1 纵向运动特征根

Table 1. Eigenvalues of longitudinal motion

z₁^b/m	特征根
z₁^b/m	长周期运动	短周期运动
-0.2	0.689 3, -0.499 1	-2.783 0±5.747 4j
0	-0.285 0±0.165 4j	-2.492 3±6.850 7j
0.2	-0.594 6±0.348 6j	-2.093 8±6.745 6j

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表 2 横向运动特征根

Table 2. Eigenvalues of lateral motion

z₁^b/m	特征根
z₁^b/m	滚转模态	荷兰滚模态	螺旋模态
-0.2	-12.270 7	-5.850 1±10.179 4j	0.401 0
0	-13.545 1	-5.825 1±10.133 8j	-0.129 4
0.2	-11.336 6	-5.897 3±10.038 7j	-0.714 3

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表 3 无人机参数

Table 3. Parameters of UAV

参数	数值
m_S/kg	20
S_ref/m²	0.55
b/m	2.895 6
c/m	0.189 9
J_x, J_y, J_z/(kg·m²)	1.135, 0.824, 1.759
S_prop/m²	0.202 7
k_motor	80
C_prop	1.0

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