基于神经网络补偿动态逆的飞翼布局无人机姿态控制方法

将动态逆控制技术应用于飞翼式布局无人机的姿态控制回路,以适应飞翼布局无人机控制系统要求。介绍了动态逆控制器解耦控制原理,以及神经网络补偿结构的作用和设计方法,并基于无人机非线性姿态运动学和动力学模型设计了基于神经网络补偿的动态逆控制器。在强耦合、强非线性的飞翼布局无人机模型上,通过数学仿真验证了系统具有良好的动态性能和稳态特性,控制器具有很强的鲁棒性。

Research on Attitude Control of Flying-wing UAV Based on Dynamic Inversion Method with Neural Network Compensation Structure

In order to meet the requirement of the flying wing UAV control system, the dynamic inversion method is used to design the attitude control loop of flying-wing UAV. The decoupling control principle for multivariable systems of dynamic inversion method as well as the usage and design method of neural network compensation structure are introduced. Besides, the dynamic inversion controller with neural network compensation structure is designed based on the nonlinear attitude kinematic and dynamic flying-wing UAV model. Through the mathematical simulation is carried out on the strong coupling and nonlinearity flying-wing UAV model , and the result shows that the designed system has good dynamic performance, stability and strong robustness.