摘要
基于动态逆和变结构控制理论设计了BTT无人机控制系统。首先详细推导了适合BTT无人机控制的精度较高的数学模型,然后应用时间尺度分离的方法把整个BTT控制系统分为快变量控制和慢变量控制两个子系统,再对每个子系统应用动态逆和变结构控制理论进行控制律设计,应用变结构控制克服了单纯应用动态逆鲁棒性较差的缺点。最后通过数字仿真分析得出:应用动态逆和变结构控制的非线性控制方法设计BTT无人机控制系统是有效的。
In this paper, a method of designing control system applied to BTT UAV based on dynamic inversion and variable structure control is proposed. Firstly,the control system of UAV is divided into two subsystem based on time scale method. Then,in very subsystem, the control law is designed based on dynamic inversion and variable structure control theory, the robust of control system is improved because of the application of variable structure control. Finally,the numerical simulation has proved that the method of designing control system applied to BTT UAV based on dynamic inversion and variable structure control is effective.
出处
《弹箭与制导学报》
CSCD
北大核心
2007年第5期17-20,共4页
Journal of Projectiles,Rockets,Missiles and Guidance
关键词
无人机
BTT
控制
动态逆
变结构
UAV
BTT control
dynamic inversion
variable structure
