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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
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出版历程
  • 收稿日期:  2019-05-28
  • 录用日期:  2019-09-22
  • 刊出日期:  2020-03-20

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