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摘要:
滑跑起降是无人飞行器(UAVs)起飞和回收的一种主要方式，滑跑过程中的跑道保持和纠偏控制对飞行器的安全性具有关键的作用。为了解决高亚声速无人飞行器滑跑起降过程中的纠偏控制问题，设计以非线性制导算法为主要前馈环节，结合实时侧偏距进行反馈补偿的滑跑纠偏控制方法，并开展仿真验证；为了克服实际系统中执行机构控制误差等不确定扰动的影响，引入自抗扰控制中的线性扩张状态观测器(LESO)，对滑跑纠偏控制过程中的非线性不确定项进行估计，并反馈补偿到滑跑纠偏控制律中。仿真与实际滑跑试验表明：所提方法可以在存在初始位置偏差及执行机构控制误差的情况下，实现较高滑跑速度工况的高精度稳定纠偏控制，满足高亚声速无人飞行器自主起降控制的需求。
Abstract:Ground taxiing takeoff and landing is a major way for unmanned aerial vehicles (UAVs) to take off and recover. The runway maintenance and lateral deviation correction control during the taxiing process play a key role in the safety of the aircraft. A deviation correction control method is proposed to solve the lateral deviation correction control problem for high subsonic UAVs. The real-time cross-track error is included as a feedback compensation, and the nonlinear guiding algorithm serves as the primary feedforward in the method’s design. Simulation is carried out, to verify the proposed method. This study introduces the linear extended state observer (LESO) in the active disturbance rejection control to mitigate the impact of unknown disturbances, including actuator control inaccuracy. The nonlinear uncertain term during the deviation correction control process is estimated by the observer, and feedback compensation is added to the control law. Through simulation and actual taxiing experiments, the proposed method can realize high-precision stable correction control under high taxiing speed, even in the presence of initial position deviation and actuator control error, so as to meet the need for autonomous take-off and landing control for high subsonic UAVs.
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图 2 滑跑纠偏控制系统框架
Figure 2. Structure of taxiing lateral deviation correction control system
图 3 基于非线性制导算法的滑跑纠偏控制仿真结构
Figure 3. Simulation structure of taxiing lateral deviation correction control based on nonlinear guidance algorithm
图 4 模拟起飞过程侧偏距仿真结果
Figure 4. Side deviation simulation results during simulation of takeoff
图 7 模拟回收过程侧偏距仿真结果
Figure 7. Side deviation simulation results during simulation of recovery process
图 8 模拟回收过程偏航角仿真结果
Figure 8. Yaw angle simulation results during simulation of recovery process
图 9 系统误差情况下模拟起飞过程侧偏距仿真结果
Figure 9. Simulation results of side deviation during simulation of takeoff with system error
图 10 系统误差情况下模拟起飞过程偏航角仿真结果
Figure 10. Simulation results of yaw angle during simulation of takeoff with system error
图 11 系统误差情况下改进方法侧偏距仿真结果
Figure 11. Side deviation results in simulation with system error based on improved method
图 12 系统误差情况下改进方法偏航角仿真结果
Figure 12. Yaw angle results in simulation with system error based on improved method
图 14 滑跑试验平台基本构型
Figure 14. Basic configuration of slide running platform used in experiment
图 18 初始位置偏差情况下滑跑速度曲线
Figure 18. Taxiing velocity curves during experiment with initial position error
图 19 初始位置偏差情况下侧偏距试验结果
Figure 19. Side deviation test results with initial position error
图 21 初始位置偏差情况下方向舵控制指令
Figure 21. Control command for rudder with initial position error
图 22 初始位置偏差情况下前轮控制指令
Figure 22. Control command for nose wheel with initial position error
图 24 初始偏航角偏差情况下侧偏距试验结果
Figure 24. Side deviation test results with initial heading error
图 26 初始偏航角偏差情况下方向舵控制指令
Figure 26. Control command for rudder with initial heading error
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