共查询到19条相似文献,搜索用时 171 毫秒
1.
2.
针对四旋翼无人机位置控制与障碍避让问题,提出了一种无源控制理论和人工势场法相结合的控制策略。将整个控制系统分解为外环位置控制器和内环姿态控制器两部分。在外环控制器设计中,采用级联系统的无源性理论,并通过选取适当的势场函数作为存储函数,解决定点跟踪过程中的避障问题。在内环控制器设计中,采用四元数描述姿态动力学方程,并基于Lyapunov函数设计内环控制律。在此基础上,进一步构造无源位置子系统和姿态子系统的互联结构,保证了整个闭环系统的稳定性。最后,通过仿真结果验证了所提出控制策略的有效性与控制性能。 相似文献
3.
4.
5.
6.
7.
8.
考虑目标机动和自动驾驶仪动态特性等情况,基于扰动观测器(DOB)技术及Backstepping的设计思想,提出了一种新型的三维导引律。运用Backstepping的设计思想,将包含驾驶仪动态特性的制导环路分为外环和内环两个环路。将目标机动及俯仰和偏航平面间的交叉耦合项当成外环扰动,将驾驶仪参数不确定当成内环扰动,分别设计内外扰动观测器将它们估计出来,利用估计值做前馈补偿得到的外环控制器可抑制目标机动对制导精度的影响及实现两个平面的解耦控制,内环控制器补偿驾驶仪动态特性对制导精度的影响。导引律的设计在于使得导弹的实际加速度跟踪上外环的虚拟控制。仿真结果表明:在目标做大机动、考虑驾驶仪动态特性的情况下,这种导引律仍然具有良好的制导精度。 相似文献
9.
针对无人机空中加油的自主会合问题,进行了相应制导律和非线性控制器的设计。通过改进的带角度约束的三维比例制导律实现对航向角的控制,以协调转弯的方式将航迹角指令转化为姿态角指令。基于无人机六自由度的动力学模型,针对无人机的姿态控制,采用时标分离的方法设计了慢子系统和快子系统,并对这两个子系统分别进行动态逆控制设计。同时,基于滑模控制的方法设计了满足自主会合要求的速度控制律。在保证无人机飞行稳定的基础上,实现了对控制和制导指令的精确跟踪。仿真结果表明,所设计的制导律和控制律能够实现无人机空中加油的自主会合,具有良好的动态特性。 相似文献
10.
对带推力矢量飞机的飞控设计问题进行了研究。根据奇异摄动理论将受控状态变量分为快变量和慢变量,然后根据非线性动态逆理论分别对内环和外环进行设计。针对非线笥动态逆要求准确的数学模型的特点,引入模糊自适应控制以考虑模型的不确定性,最后对所设计的飞控规律进行过失速机动仿真。结果表明,在存在较大模型误差的情况下,所设计的飞控规律安全能在过失速机动条件下控制飞机跟踪指令飞行。 相似文献
11.
Singh S.N. Steinberg M.L. Page A.B. 《IEEE transactions on aerospace and electronic systems》2003,39(4):1250-1262
The question of inertial trajectory control of aircraft in the three-dimensional space is discussed. It is assumed that the nonlinear aircraft model has uncertain aerodynamic derivatives. The control system is decomposed into a variable structure outer loop and an adaptive inner loop. The outer-loop feedback control system accomplishes (x,y,z) position trajectory and sideslip angle control using the derivative of thrust and three angular velocity components (p,q,r) as virtual control inputs. Then an adaptive inner feedback loop is designed, which produces the desired angular rotations of aircraft using aileron, elevator, and rudder control surfaces to complete the maneuver. Simplification in the inner-loop design is obtained based on a two-time scale (singular perturbation) design approach by ignoring the derivative of the virtual angular velocity vector, which is a function of slow variables. These results are applied to a simplified F/A-18 model. Simulation results are presented which show that in the closed-loop system asymptotic trajectory control is accomplished in spite of uncertainties in the model at different flight conditions. 相似文献
12.
A method is presented for reducing trajectory sensitivity and achieving robust asymptotic tracking for linear feedback systems when there are parameter perturbations and disturbance inputs. The controller consists of a servocompensator containing the modes of the reference signals and disturbance inputs, a stabilizing feedback loop, and a feedforward compensator. Application of the method to the design of a vertical takeoff and landing (VTOL) aircraft flight control system is discussed. The use of a precompensator allows performance maneuvers such that the aircraft tracks desired trajectories and the feedforward and feedback signals aid in reducing the trajectory sensitivity to variations of parameters due to change in airspeed and to wind gust. Simulation results are presented to show the robust tracking, disturbance rejection, and sensitivity reduction capabilities of the flight control system. 相似文献
13.
Ao HE Honggang GAO Shanshan ZHANG Zhenghong GAO Bodi MA Lulu CHEN Wei DAI 《中国航空学报》2022,35(10):95-105
The Stopped-Rotor(SR) UAV combines the advantages of vertical take-off and landing of helicopter and high-speed cruise of fixed-wing aircraft. At the same time, it also has a unique aerodynamic layout, which leads to great differences in the control and aerodynamic characteristics of various flight modes, and brings great challenges to the flight dynamics modelling and control in full-mode flight. In this paper, the flight dynamics modelling and control method of SR UAV in full-mode flight is st... 相似文献
14.
针对液压仿真转台具有时变不确定性、复杂外干扰等特点和高精度控制性能要求,提出了一种鲁棒复合控制结构,该结构由鲁棒内回路补偿器、外回路反馈控制器和输入信号前馈补偿器三部分组成。其中,鲁棒内回路补偿器用来抑制外干扰和时变不确定性的影响,外回路反馈控制器的作用是保证闭环系统的整体性能,输入信号前馈补偿器实现对系统动态时滞的补偿,以保证对参考信号的精确跟踪。以某型液压仿真转台内环为例,首先根据所提出控制策略的基本思想,给出了控制系统的具体设计过程,然后,进行了阶跃响应、低速跟踪和正弦响应试验。试验结果表明,所提出的鲁棒控制策略是有效的和可行的。 相似文献
15.
16.
为实现短距起飞垂直着陆(STOVL)无人飞行器在推力矢量控制下的减速过渡,研究减速过渡阶段的控制律综合设计方法.首先通过分析STOVL无人飞行器减速过渡性能,对减速过渡推力矢量控制方案进行了评估;然后采用隐式动态逆方法设计导引律,为STOVL无人飞行器按预设任务减速过渡提供可达的控制指令;最后采用改进的特征结构配置方法进行内环控制律设计,跟踪导引指令并保持姿态稳定,伴随动压降低加入姿态喷管控制,辅助气动舵面稳定姿态.由全量六自由度飞行仿真结果表明:当减速过渡速度低于最小平飞速度以后,STOVL无人飞行器依然保持良好的航迹跟踪和姿态稳定.该方法完全采用直接配置法,有利于随控布局总体方案的快速评估. 相似文献
17.
《中国航空学报》2020,33(1):255-270
This study creates and combines the general maneuver libraries for fixed-wing aircraft to implement tactical maneuvers. First, the generalized maneuver libraries are established by analyzing the characteristics of tactical maneuvers required in battlefields. The 7th order polynomial is applied to both the creation of the maneuver libraries and the generation of the trajectories or flight paths for modal inputs. To track the desired trajectory, we design the Attitude Command Attitude Hold (ACAH) system and the Rate Command Rate Hold (RCRH) system using Model Following Controller (MFC). Moreover, the Line-of-Sight (LOS) guidance law is designed. In particular, the CONDUIT® is employed to optimize the gains so that the control systems meet the aircraft Handling Qualities (HQ) criteria. Finally, flight simulations are performed for the longitudinal loop, immelmann-turn, and climb-slalom-descent maneuvers to verify that tactical aggressive maneuvers are realizable via the combination of maneuver libraries. This study can contribute to the development of flight techniques for aircraft tactical maneuvers and to the revision of air force operational manuals. 相似文献
18.
19.
根据直升机飞行模态的特点,提出了一种的内/外回路控制结构,将不同飞行模态通过内/外回路结构有机地联系起来,不仅简化了直升机多模态控制律的设计,还简化了模态转换的控制器结构。最后,用这种结构将直升机多模态控制律的全飞行包线设计分解为内回路的控制器切换和外回路的模态转换,设计思路避免了传统的增益调参。 相似文献