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无人机滑跑线性化建模与增益调节纠偏控制
段镇; 高九州; 贾宏光; 陈娟
2014-06-15
Source Publication光学精密工程
Issue6Pages:1507-1516
Abstract由于无人机的三轮滑跑阶段是整个飞行过程最容易出问题的环节,本文对前三点式无人机地面滑跑进行建模并研究了前轮转向纠偏控制方法。首先,分析了无人机三轮滑跑阶段的受力情况;考虑发动机扭矩、推力偏心及停机角对模型的影响,建立了无人机地面三轮滑跑非线性数学模型;然后,利用小扰动原理在合理简化的前提下将非线性模型线性化,分别推导了前轮转角为输入,偏航角速度、偏航角、侧偏距为输出的传递函数,设计了三回路增益调节前轮转向纠偏控制律;最后,通过滑跑试验进行了验证。试验结果表明:在初始航向偏差为3°,初始侧向位置偏差为0.2m的情况下,无人机由静止滑行至速度为32m/s过程中的最大侧偏距为0.3m,最大偏航角为4.5°,并且对不大于4.6m/s的侧风干扰有较好的抑制作用,对跑道路况、轮胎侧偏刚度及轮胎弹性等不确定因素的影响有较好的鲁棒性。该设计已成功应用于某无人机。
Subtype期刊
Keyword无人机 滑跑建模 模型线性化 前轮转向纠偏 增益调节控制 滑跑试验
Language中文
Document Type期刊论文
Identifierhttp://ir.ciomp.ac.cn/handle/181722/42846
Collection中科院长春光机所知识产出
Recommended Citation
GB/T 7714		 段镇,高九州,贾宏光,等. 无人机滑跑线性化建模与增益调节纠偏控制[J]. 光学精密工程,2014(6):1507-1516.
APA 段镇,高九州,贾宏光,&陈娟.(2014).无人机滑跑线性化建模与增益调节纠偏控制.光学精密工程(6),1507-1516.
MLA 段镇,et al."无人机滑跑线性化建模与增益调节纠偏控制".光学精密工程 .6(2014):1507-1516.
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