| 无人机非方阵系统解耦控制 |
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| 作者单位： | 哈尔滨工业大学航天工程系，哈尔滨工业大学航天工程系，哈尔滨工业大学航天工程系，哈尔滨工业大学航天工程系 黑龙江哈尔滨150001，中原工学院电子信息学院，河南郑州450007，黑龙江哈尔滨150001，黑龙江哈尔滨150001，黑龙江哈尔滨150001 |
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| 摘 要： | 针对无人机(UAV)盘旋侦察飞行过程中,横侧向运动为非方阵多变量系统,且存在强耦合作用的问题。提出了一种新型的解耦方法。首先建立无人机横侧向非方阵系统模型,并采用内环反馈方法对模型进行了方阵化,然后基于一种最优化的逆乃奎斯特阵列法,提出了扩展INA法迭代公式,用于无人机非方阵系统的动态解耦补偿器求解。仿真结果表明:补偿后无人机偏航、滚转通道间的耦合效应明显降低;且设计方法物理概念清晰,易于工程实现。
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| 关 键 词： | 无人机 非方阵系统 解耦控制 动态预补偿器 扩展INA |
Decoupling Control of Non-square UAV System |
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| Authors: | Xu Jiangtao Cui Naigang Lu Fei Wei Changzhu |
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| Institution: | Xu Jiangtao1,2,Cui Naigang1,Lu Fei1,Wei Changzhu1 |
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| Abstract: | During umanned aerial vehicle(UAV) hovering,there exist the strong-coupling characteristics in the lat-eral multivariable flight models with non-square form.A novel decoupling control scheme for lateral motion of UAV is presented.First,the lateral non-square model for UAV is established and the inner loop feedback method is adopted to square it.Based on the optimum inverse Nyquist array(INA) method,an extended INA iterative recursive formula for the process is presented for the procedure.The simulation results show that after compensation,the coupling ef-fect between yaw and roll of UAV is obviously decreased.The presented method with clear physical conceptions can be easily applied in the real engineering field. |
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| Keywords: | UAV non-square system decoupling control dynamic pre-compensator extended INA |
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