无侧滑角传感器的飞翼无人机抗侧风控制方法

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清华大学辅仁网/2017-07-07

王乾^1,²,李清^1,²(

),程农^1,²,宋靖雁¹

2. 中航工业西安飞行自动控制研究所,陕西西安 710065

Counteracting crosswind control method for flying-wing UAV without sideslip sensors

Qian WANG^1,²,Qing LI^1,²(

),Nong CHENG^1,²,Jingyan SONG¹

1. Department of Automation, Tsinghua University, Beijing 100084, China
2. AVIC Xi'an Flight Automatic Control Research Institute, Xi'an 710065, China

摘要:

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摘要飞翼布局无人机(UAV)由于缺少垂直尾翼的安定作用,航向通道不稳定或具有弱稳定性,侧风条件下容易引起侧滑,影响航迹跟踪精度。针对一种没有安装侧滑角传感器的小型飞翼无人机,根据惯性器件测量数据和无人机气动参数,使用扩展Kalman滤波方法估计无人机的侧滑角大小并控制消除侧滑。在抑制侧滑的条件下,推导建立了无人机航迹跟踪侧向运动的非线性模型,利用反馈线性化方法,将运动模型转化为带有扰动的线性模型,进而引入虚拟控制变量,使用保性能H_∞鲁棒控制器设计方法,优化得到航迹跟踪反馈控制参数。仿真结果表明: 该方法能够估计并有效抑制侧风条件下飞翼无人机侧滑等干扰,实现航迹的精确跟踪。

关键词 ：飞翼无人机,抗侧风,航迹跟踪,侧滑角估计,H∞控制

Abstract：Flying-wing unmanned aerial vehicles (UAV) have poor stability or are unstable in the lateral direction due to their tailless configuration, which can cause sideslip and affect tracking accuracy in the presence of crosswinds. This paper presents an extended Kalman filter method for estimating the angle-of-sideslip using inertial sensor data and aerodynamic data for a small flying-wing UAV without sideslip sensors. The estimation result is employed as a feedback to control the split drag rudders for reducing sideslip. In addition, the paper presents a nonlinear UAV lateral tracking model for small sideslip. The model is transformed to a linear system relative to the crosswind disturbance using feedback linearization. A performance restricted H_∞ robust control design method is implemented based on the linear system by introducing a virtual control variable. Robust feedback control parameters are obtained from the optimization result. Simulations show the validity of the method in counteracting crosswind effects for accurate tracking.

Key words：flying-wing unmanned aerial vehicle counteracting crosswind track following angle-of-sideslip estimation H∞ control

收稿日期: 2013-08-13 出版日期: 2015-04-17

基金资助:国家自然科学基金资助项目 (61174168);航空科学基金资助项目 (20128058006)

引用本文:

王乾,李清,程农,宋靖雁. 无侧滑角传感器的飞翼无人机抗侧风控制方法[J]. 清华大学学报（自然科学版）, 2014, 54(4): 530-535.
Qian WANG,Qing LI,Nong CHENG,Jingyan SONG. Counteracting crosswind control method for flying-wing UAV without sideslip sensors. Journal of Tsinghua University(Science and Technology), 2014, 54(4): 530-535.

链接本文:

http://jst.tsinghuajournals.com/CN/或 http://jst.tsinghuajournals.com/CN/Y2014/V54/I4/530

图表:

飞翼布局无人机系统

参数	数值
翼展/m	2.6
翼面积/m²	1.327
总质量/kg	8.35
转动惯量/kg·m²	1.93800.01300.62100.01302.534
航向静稳定系数Cnβ	-0.000 51
航向阻尼系数Cnr	0.001 1

飞翼无人机FWUAV主要参数

侧偏距误差对比

偏航角误差对比

侧滑角响应与侧滑角估计值对比

滚转角响应结果对比

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