无人旋翼飞行器自适应飞行控制系统设计与仿真

doi:10.3724/SP.J.1218.2013.00098

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夏青元, 徐锦法, 张梁. 无人旋翼飞行器自适应飞行控制系统设计与仿真[J]. 机器人, 2013, 35(1): 98-106.DOI: 10.3724/SP.J.1218.2013.00098. XIA Qingyuan, XU Jinfa, ZHANG Liang. Design and Simulation of an Adaptive Flight Control System for Unmanned Rotorcraft. ROBOT, 2013, 35(1): 98-106. DOI: 10.3724/SP.J.1218.2013.00098.

摘要

为了设计出能适应不同飞行任务的无人旋翼飞行器飞行控制系统，讨论了模型逆控制器原理．提出了神经网络补偿控制器及其权系数在线算法，分析了综合控制器稳定性．导出了无人旋翼飞行器旋转动力学逆控制器和平移动力学逆控制器，设计了姿态内回路控制器和轨迹外回路控制器，确定了共轴旋翼转速驱动电机的控制分配策略．规划了组合机动飞行科目来模拟自动飞行任务．通过仿真验证了自适应飞行控制系统对无人旋翼飞行器水平垂直运动、悬停和航向运动的飞行控制能力．结果表明，所设计的飞行控制系统具有自适应性和鲁棒性，能实现姿态与轨迹的稳定和跟踪控制．

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关键词 ：无人飞行器, 动态逆, 神经网络, 自适应控制, 飞行控制, 仿真验证

Abstract：

The principle of the model inverse controller is discussed in order to design an unmanned rotorcraft flight control system applicable to different mission tasks. A neural network compensation controller and online algorithms of its weight coefficients are proposed, and the stability of the synthesized controller is analyzed. The rotational dynamics inverse controller and translational dynamics inverse controller for the unmanned rotorcraft are deduced. The attitude inner loop controller and trajectory outer loop controller are designed. The control distribution strategy of the driving motor is determined to control the speed of coaxial rotor. A combined maneuver flight mission task is planned to imitate automatic flight motion. The adaptive flight control system is verified with simulation, and the flight control abilities of horizontal and vertical motion, hover and heading motion are demonstrated and validated. These results show that the designed adaptive flight control system has adaptability and robustness, and can realize attitude stability and trajectory following.

Key words： unmanned aerial vehicle (UAV) dynamic inversion neural network adaptive control flight control simulation and demonstration

收稿日期: 2012-05-03 录用日期: 2012-11-14

V249.1

基金资助:

国防预研项目（B2520110008）

通讯作者: 夏青元 E-mail: xqy@nuaa.edu.cn

作者简介: 夏青元（1980—），男，博士生．研究领域：直升机飞行控制与飞行仿真．
徐锦法（1963—），男，教授，博士生导师．研究领域：直升机飞行力学、导航、制导与控制．
张梁（1984—），男，博士生．研究领域：无人直升机视觉导引着陆飞行控制与仿真．

链接本文:

https://robot.sia.cn/CN/10.3724/SP.J.1218.2013.00098 或 https://robot.sia.cn/CN/Y2013/V35/I1/98

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