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。
During umanned aerial vehicle （UAV） hovering, there exist the strong-coupling characteristics in the lateral 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 effect 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.
出处
《航空学报》
EI
CAS
CSCD
北大核心
2008年第B05期157-162,共6页
Acta Aeronautica et Astronautica Sinica
基金
国家“863”计划
