留言板

尊敬的读者、作者、审稿人, 关于本刊的投稿、审稿、编辑和出版的任何问题, 您可以本页添加留言。我们将尽快给您答复。谢谢您的支持!

姓名
邮箱
手机号码
标题
留言内容
验证码

基于反步控制方法的菱形翼无人机起飞滑跑控制

李继广 董彦非 杨芳 申洋

李继广, 董彦非, 杨芳, 等 . 基于反步控制方法的菱形翼无人机起飞滑跑控制[J]. 北京航空航天大学学报, 2020, 46(3): 496-504. doi: 10.13700/j.bh.1001-5965.2019.0261
引用本文: 李继广, 董彦非, 杨芳, 等 . 基于反步控制方法的菱形翼无人机起飞滑跑控制[J]. 北京航空航天大学学报, 2020, 46(3): 496-504. doi: 10.13700/j.bh.1001-5965.2019.0261
LI Jiguang, DONG Yanfei, YANG Fang, et al. Takeoff taxiing control of joined-wing UAV based on backstepping method[J]. Journal of Beijing University of Aeronautics and Astronautics, 2020, 46(3): 496-504. doi: 10.13700/j.bh.1001-5965.2019.0261(in Chinese)
Citation: LI Jiguang, DONG Yanfei, YANG Fang, et al. Takeoff taxiing control of joined-wing UAV based on backstepping method[J]. Journal of Beijing University of Aeronautics and Astronautics, 2020, 46(3): 496-504. doi: 10.13700/j.bh.1001-5965.2019.0261(in Chinese)

基于反步控制方法的菱形翼无人机起飞滑跑控制

doi: 10.13700/j.bh.1001-5965.2019.0261
基金项目: 

通用航空工程技术中心基金 XHY-2016084

陕西省自然科学基金 2019JM-290

江苏省高等学校自然科学研究基金 17KJD170004

详细信息
    作者简介:

    李继广, 男, 博士, 讲师。主要研究方向:鲁棒控制方法、无人机飞控系统开发。E-mail:912646963@qq.com

    通讯作者:

    李继广, E-mail:912646963@qq.com

  • 中图分类号: V249

Takeoff taxiing control of joined-wing UAV based on backstepping method

Funds: 

General Aviation Engineering Technology Center Foundation XHY-2016084

Natural Science Foundation of Shaanxi Province 2019JM-290

Natural Science Research Fund of Colleges and Universities in Jiangsu Province 17KJD170004

More Information
  • 摘要:

    小型菱形翼无人机起飞滑跑面临着简陋跑道条件带来的干扰和自身非线性因素影响的问题,现有控制方法对无人机起飞滑跑的滚转控制重视不足。针对该问题,以某型菱形翼无人机的起飞滑跑试验为切入点,分析了该布局无人机起飞滑跑面临的问题和菱形翼布局的特点,设计了一种基于反步控制方法的菱形翼无人机地面起飞滑跑控制器。所提控制方法充分考虑了起飞条件带来的干扰及无人机本身非线性因素的影响,对无人机起飞滑跑的航向和滚转进行了有效控制。仿真和无人机起飞滑跑结果表明了所提控制方法的有效性。

     

  • 图 1  菱形翼无人机实物图

    Figure 1.  Photo of joined-wing UAV

    图 2  菱形翼无人机起飞滑跑轨迹

    Figure 2.  Takeoff taxiing trajectory of joined-wing UAV

    图 3  菱形翼无人机遥控起飞滑跑轨迹

    Figure 3.  Joined-wing UAV remote control takeoff taxiing trajectory

    图 4  菱形翼无人机遥控起飞滑跑偏航角

    Figure 4.  Yaw angle of joined-wing UAV remote control takeoff taxiing

    图 5  菱形翼无人机遥控起飞滑跑滚转角

    Figure 5.  Roll angle of joined-wing UAV remote control takeoff taxiing

    图 6  菱形翼无人机纵向-横向起飞滑跑轨迹

    Figure 6.  Longitudinal and horizontal takeoff taxiing trajectory of joined-wing UAV

    图 7  菱形翼无人机地面起飞滑跑姿态角响应

    Figure 7.  Attitude angle response of joined-wing UAV ground takeoff taxiing

    图 8  菱形翼无人机地面起飞滑跑控制舵面响应

    Figure 8.  Rudder response of joined-wing UAV ground takeoff taxiing control

    图 9  具有控制器的菱形翼无人机起飞滑跑轨迹

    Figure 9.  Joined-wing UAV takeoff taxiing trajectory with controller

    图 10  菱形翼无人机起飞滑跑偏航角

    Figure 10.  Yaw angle of joined-wing UAV takeoff taxiing

    图 11  菱形翼无人机起飞滑跑滚转角

    Figure 11.  Roll angle of joined-wing UAV takeoff taxiing

    表  1  地面起飞滑跑试验菱形翼无人机气动参数偏移设置

    Table  1.   Aerodynamic parameter offset setup of joined-wing UAV for ground takeoff taxiing test

    系数 ΔCβL ΔCβN CpL CrN η
    偏移/% 15 -20 20 20 15
    下载: 导出CSV
  • [1] 刘杰, 张曙光.连接翼布局纵向控制特性[J].航空学报, 2008, 29(5):91-96. http://www.cnki.com.cn/Article/CJFDTotal-HKXB2008S1014.htm

    LIU J, ZHANG S G.Longitudinal control features of joined-wing configuration[J]. Acta Aeronautica et Astronautica Sinica, 2008, 29(5):91-96(in Chinese). http://www.cnki.com.cn/Article/CJFDTotal-HKXB2008S1014.htm
    [2] 李继广, 陈欣, 李亚娟, 等.飞翼无人机机动飞行非线性鲁棒控制方法[J].北京航空航天大学学报, 2018, 44(1):89-98. doi: 10.13700/j.bh.1001-5965.2017.0014

    LI J G, CHEN X, LI Y J, et al.Nonlinear robust control method for maneuver flight of flying wing UAV[J].Journal of Beijing University of Aeronautics and Astronautics, 2018, 44(1):89-98(in Chinese). doi: 10.13700/j.bh.1001-5965.2017.0014
    [3] CHANDAR D D J, DAMODARAN M.Computational study of unsteady low-Reynolds-number airfoil aerodynamics using moving overlapping meshes[J].AIAA Journal, 2008, 46(2):429-438. doi: 10.2514/1.31499
    [4] 孙俊磊, 王和平, 周洲, 等.基于天线安装的菱形翼无人机翼型优化设计[J].航空学报, 2017, 38(11):1-14. http://d.old.wanfangdata.com.cn/Periodical/hkxb201711001

    SUN J L, WANG H P, ZHOU Z, et al.Aerodynamic optimization design of diamond-wing configuration UAV airfoil based on radar antenna installation[J].Acta Aeronautica et Astronautica Sinica, 2017, 38(11):1-14(in Chinese). http://d.old.wanfangdata.com.cn/Periodical/hkxb201711001
    [5] 张琳, 龚喜盈, 庞俊锋.轮式起降无人机滑跑起飞阶段动力学仿真研究[J].航空工程进展, 2018, 9(3):371-375. http://d.old.wanfangdata.com.cn/Periodical/hkgcjz201803012

    ZHANG L, GONG X Y, PANG J F.Dynamics simulation research on tricycle landing gear UAV during taxiing and take-off phase[J].Advances in Aeronautical Science and Engineering, 2018, 9(3):371-375(in Chinese). http://d.old.wanfangdata.com.cn/Periodical/hkgcjz201803012
    [6] EVANS P, PERHINSCHI M, MULLINS S.Modeling and simulation of a tricycle landing gear at normal and abnormal conditions: AIAA-2010-7618[R].Reston: AIAA, 2010.
    [7] EVANS P E.Modeling and simulation of tricycle landing gear at normal and abnormal conditions[D].Morgantown: West Virginia University, 2010.
    [8] 王彦雄, 周洲, 邵壮, 等.飞翼布局无人机滑跑纠偏控制[J].西北工业大学学报, 2016, 34(4):593-601. http://d.old.wanfangdata.com.cn/Periodical/xbgydxxb201604007

    WANG Y X, ZHOU Z, SHAO Z, et al.Lateral deviation correction control for flying-wing UAV taxiing[J].Journal of Northwestern Polytechnical University, 2016, 34(4):593-601(in Chinese). http://d.old.wanfangdata.com.cn/Periodical/xbgydxxb201604007
    [9] 王鹏, 周洲.飞翼无人机着陆滑跑建模和控制仿真研究[J].系统仿真学报, 2011, 23(1):118-122. http://d.old.wanfangdata.com.cn/Periodical/xtfzxb201101025

    WANG P, ZHOU Z.Study of modeling and control simulation for flying-wing UAV in ground motion during landing[J].Journal of System Simulation, 2011, 23(1):118-122(in Chinese). http://d.old.wanfangdata.com.cn/Periodical/xtfzxb201101025
    [10] 吴成富, 闫冰, 邵朋院.基于模糊控制的无人机滑跑起飞控制方法研究[J].西北工业大学学报, 2015, 33(1):33-39. doi: 10.3969/j.issn.1000-2758.2015.01.007

    WU C F, YAN B, SHAO P Y.Exploring taxiing take-off control for unmanned aerial vehicle(UAV) based on fuzzy control[J].Journal of Northwest Polytechnic University, 2015, 33(1):33-39(in Chinese). doi: 10.3969/j.issn.1000-2758.2015.01.007
    [11] 张震, 贾玉红.无人机地面滑跑方向稳定性模糊控制研究[J].飞机设计, 2016, 36(2):18-21. doi: 10.3969/j.issn.1674-9804.2016.02.004

    ZHANG Z, JIA Y H.Application of fuzzy control in UAV on-ground directional control system[J].Aircraft Design, 2016, 36(2):18-21(in Chinese). doi: 10.3969/j.issn.1674-9804.2016.02.004
    [12] 宋荣志, 李艳辉, 厉明.无人机地面滑跑前轮方向舵联合纠偏控制系统设计[J].计算机测量与控制, 2015, 23(9):3056-3059. http://d.old.wanfangdata.com.cn/Periodical/jsjzdclykz201509038

    SONG R Z, LI Y H, LI M.Design of lateral deviation correction control for UAV taxing with node wheel and rudder[J].Computer Measurement & Control, 2015, 23(9):3056-3059(in Chinese). http://d.old.wanfangdata.com.cn/Periodical/jsjzdclykz201509038
    [13] 郝现伟, 杨业, 贾志强, 等.无人机着陆滑跑数学模型与纠偏控制[J].电机与控制学报, 2014, 18(5):85-92. doi: 10.3969/j.issn.1007-449X.2014.05.014

    HAO X W, YANG Y, JIA Z Q, et al.Mathematic model and deviation-correction control for UAV taxiing[J].Electric Machines and Control, 2014, 18(5):85-92(in Chinese). doi: 10.3969/j.issn.1007-449X.2014.05.014
    [14] 薛志鹏, 厉明, 李艳辉, 等.小型无人机三轮滑跑纠偏控制的建模与仿真[J].系统仿真学报, 2013, 25(11):2557-2560. http://d.old.wanfangdata.com.cn/Periodical/xtfzxb201311008

    XUE Z P, LI M, LI Y H, et al.Modeling and lateral deviation controlling for small UAV with three wheels in ground motion[J].Journal of System Simulation, 2013, 25(11):2557-2560(in Chinese). http://d.old.wanfangdata.com.cn/Periodical/xtfzxb201311008
    [15] 王永全, 魏小辉, 尹乔之, 等.高速无人机着陆滑跑纠偏联合仿真研究[J].航空计算技术, 2016, 46(1):60-63. doi: 10.3969/j.issn.1671-654X.2016.01.015

    WANG Y Q, WEI X H, YIN Q Z, et al.Co-simulation research of deviation correction control for high-speed UAV taxiing[J].Aeronautical Computing Technique, 2016, 46(1):60-63(in Chinese). doi: 10.3969/j.issn.1671-654X.2016.01.015
    [16] 孙俊磊, 王和平, 周洲, 等.螺旋桨滑流对菱形翼布局无人机气动的影响[J].航空学报, 2018, 39(1):136-149. http://d.old.wanfangdata.com.cn/Periodical/hkxb201801012

    SUN J L, WANG P, ZHOU Z, et al.Effects of propeller slipstream on aerodynamic performance of diamond joined-wing configuration UAV[J].Acta Aeronautica et Astronautica Sinica, 2018, 39(1):136-149(in Chinese). http://d.old.wanfangdata.com.cn/Periodical/hkxb201801012
    [17] 张伸, 王青, 董朝阳, 等.基于跟踪微分器的高超声速飞行器减步控制[J].北京航空航天大学学报, 2017, 43(10):2054-2062. doi: 10.13700/j.bh.1001-5965.2016.0791

    ZHANG Y, WANG Q, DONG C Y, et al.Reduced step control of hypersonic vehicle based on tracking differentiator[J].Journal of Beijing University of Aeronautics and Astronautics, 2017, 43(10):2054-2062(in Chinese). doi: 10.13700/j.bh.1001-5965.2016.0791
    [18] MA G, CHEN C, LYU Y, et al.Adaptive backstepping-based neural network control for hypersonic reentry vehicle with input constraints[J].IEEE Access, 2018, 6:1954-1966. doi: 10.1109/ACCESS.2017.2780994
    [19] 陈明, 张士勇.基于Backstepping的非线性系统预设性能鲁棒控制器设计[J].控制与决策, 2015, 30(5):877-881. http://d.old.wanfangdata.com.cn/Periodical/kzyjc201505015

    CHEN M, ZHANG S Y.Prescribed performance robust controller design for nonlinear systems based on Backstepping[J].Control & Decision, 2015, 30(5):877-881(in Chinese). http://d.old.wanfangdata.com.cn/Periodical/kzyjc201505015
    [20] CHEN F Y, JIANG R Q, JIANG B, et al.Robust backstepping sliding mode control and observer-based fault estimation for a quadrotor UAV[J].IEEE Transactions on Industrial Electronics, 2016, 25(52):37-48. http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=998f7f756d4e3624fa6b26ec025d48ea
    [21] SONG S, LIU J, WANG H.Adaptive fault tolerant control for a class of nonlinear switched systems[J].IEEE Access, 2018, 6:7728-7738. doi: 10.1109/ACCESS.2018.2802906
  • 加载中
图(11) / 表(1)
计量
  • 文章访问数:  704
  • HTML全文浏览量:  69
  • PDF下载量:  205
  • 被引次数: 0
出版历程
  • 收稿日期:  2019-05-28
  • 录用日期:  2019-09-22
  • 网络出版日期:  2020-03-20

目录

    /

    返回文章
    返回
    常见问答