引用本文:张波,周洲,祝小平.自抗扰实现飞翼布局无人机全包线飞行控制[J].控制理论与应用,2015,32(10):1370~1377.[点击复制]
ZHANG Bo,ZHOU Zhou,ZHU Xiao-ping.Practical active disturbance-rejection solution to a fly wing UAV flight control within full envelope[J].Control Theory and Technology,2015,32(10):1370~1377.[点击复制]
自抗扰实现飞翼布局无人机全包线飞行控制
Practical active disturbance-rejection solution to a fly wing UAV flight control within full envelope
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DOI编号  10.7641/CTA.2015.50484
  2015,32(10):1370-1377
中文关键词  无人机  飞翼布局  全包线  自抗扰控制  时滞
英文关键词  unmanned aerial vehicles (UAV)  fly wing  full envelope  active disturbance rejection control  time delay
基金项目  国防预研项目(513250201)资助.
作者单位E-mail
张波 西北工业大学无人机特种技术重点实验室 hugh123go@mail.nwpu.edu.cn 
周洲 西北工业大学航空学院  
祝小平* 西北工业大学无人机研究所 hugh123go@mail.nwpu.edu.cn 
中文摘要
      本文以大展弦比飞翼布局无人机为研究对象, 基于线性自抗扰控制(linear active disturbance rejection control, LADRC)理论设计了包含内环姿态控制和外环轨迹控制的全包线飞行控制器. 在姿态控制中, 提出一种抗 时滞LADRC控制方法, 可以有效解决控制延迟和执行机构动态特性引起的LADRC响应振荡; 在轨迹控制中, 考虑 飞翼布局无人机的气动特性, 分别设计了高度、航向、侧向偏离等常用飞行模态的跟踪控制器. 仿真结果表明, 在气 动参数存在不确定性及强风干扰的全包线环境中连续飞行时, 所设计的控制器具有较好的控制性能和较强的鲁棒 特性. 与常规全包线控制方案相比, 本文设计的全包线飞行控制器待整定参数较少, 参数整定过程相对简单, 为进 一步的工程应用提供了参考.
英文摘要
      Based on linear active disturbance-rejection control (LADRC) theory, a full envelope flight controller is designed for high aspect ratio flying wing unmanned aerial vehicles. This controller consists of two parts, which are inner attitude controller and outer trajectory controller. In attitude controller design, an anti-delay LADRC is proposed to handle effects of control delay and actuator dynamic process, which can cause response oscillation in normal LADRC. In trajectory controller design, considering the UAV aerodynamic characteristic, we design respectively the altitude controller, heading angle controller and lateral deviation tracking controller for each common flight mode. Simulation results show that the designed controller has high value of control performance index and strong robustness when parameter uncertainty and severe wind disturbance exist. Compared with conventional methods, we find that the proposed controller has fewer parameters and a much simpler tuning process, providing a reference solution for further engineering application.