小型旋翼无人机潜射控制器设计

小型旋翼无人机在潜射过程中的弹射和姿态控制直接影响着潜射工程任务的成败。针对小型旋翼无人机在潜射过程中姿态难以快速调整、发射初始姿态易受海浪干扰等问题，提出一种无人机潜射系统的控制方案。采用带有矢量控制的助推火箭来调整无人机在发射段的姿态，并通过海浪预测模型优化无人机发射时间窗口；针对小型旋翼无人机在弹出后旋翼展开时的姿态不稳定问题，采用基于L1自适应控制方法的姿态控制律进行无人机的增稳设计。仿真结果表明:助推火箭的矢量控制发动机能够在2s内快速调整无人机的俯仰姿态，设计的L1自适应姿态控制律能够在无人机旋翼展开的2s内实现俯仰姿态的稳定控制，并且对潜射场景中气动参数的不确定变化具有一定的鲁棒性。 

Design of underwater-launched controller for small rotor UAV

The attitude stability of the underwater-launched small rotor UAV directly affects the result of the entire submarine launch task. Aimed at the problems that the rotor UAV's attitude is difficult to adjust quickly during the launching period, and the initial launch attitude is easily interfered by ocean waves, a novel control scheme for the UAV underwater-launched system is proposed. Meanwhile, this paper specifically uses a booster rocket with a vector control engine to adjust the attitude of the UAV in the launch period, and optimize the UAV launch time by the ocean waves' attitude prediction model. Aimed at the problem of the unstable attitude of the rotor UAV when the rotor unfolds after the launch, the attitude control law based on the L1 adaptive method is designed for stability augmentation. Simulation results show that the vector control engine of the booster rocket can quickly adjust the pitch attitude of the UAV within 2 s. The designed L1 adaptive attitude control law can complete the stable control of the pitch attitude within 2 s when the rotor unfolds, and has robustness to the uncertain changes of aerodynamic parameters in the submarine launch.