北京航空航天大学学报 ›› 2010, Vol. 36 ›› Issue (10): 1252-1255.

• 论文 • 上一篇    下一篇

盘旋跟踪地面目标小型无人机控制系统设计

王洋, 刘伟   

  1. 北京航空航天大学 仪器科学与光电工程学院, 北京 100191
  • 收稿日期:2009-09-15 发布日期:2010-11-12
  • 作者简介:王 洋(1983-),男,河北张家口人,硕士生,wy0619@126.com.

Searching and tracking ground target UAV flight control system design

Wang Yang, Liu Wei   

  1. School of Instrument Science and Opto-electronics Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China
  • Received:2009-09-15 Published:2010-11-12

摘要: 针对一种大展弦比、V形尾翼常规布局小型无人机盘旋跟踪地面目标飞行的飞行控制策略进行了研究.采用了一种单轴光电探测系统修正视场纵向误差,无人机航向控制修正视场横向误差的控制方法.设计了一种自适应PID(Proportion Integration Differention)控制器,并通过对无人机六自由度非线性运动模型的建模分析,进行了控制律的仿真验证,并将算法融合在盘旋跟踪飞行实验中.仿真及实际飞行实验结果表明:该控制系统在突风等大扰动的影响下获得了良好的动态性能指标,并有效地抑制了飞机姿态通道对视轴通道的耦合影响,满足了飞行任务的需求.

Abstract: According to a high aspect ratio and V-shaped empennage unmanned aerial vehicle (UAV), a flight control strategy based on searching and tracking ground target was researched. A control method was designed with which a single-axis camera detecting system eliminated vertical error and UAV heading control loop eliminated horizontal error on field of view. By simulating and analyzing the UAV-s motion state and using six-degree-freedom nonlinear equations, an adaptive proportion integration differention (PID) controller was designed. And the designed algorithm was applied to the experiment of ground target tracking. The simulation and flight experiment results indicate that the UAV-s dynamic performance is well realized under the influence of sudden wind and other large disturbance. The designed control system effectively inhibits the coupling influence of the UAV-s attitude control channel to the optical axis control channel and meets the requirement of the flight missions.

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