摘要
针对无人机单副翼极限位置卡死故障,提出了一种通过侧滑配平的控制方法,该方法的核心思想是利用侧滑角产生额外的滚转力矩来补偿单侧副翼卡死带来的不对称力矩。首先,分析了单侧副翼卡死时飞机的配平方法,得出了可以利用侧滑角来实现配平的结论;进而提出了基于经典PID控制结构的侧滑角指令生成及控制方法,并完成了控制律设计;最后,进行非线性仿真,结果表明文中提出的方案能使无人机在单侧副翼极限位置卡死时快速稳定,并通过加入侧滑角使未卡死副翼的操纵能力逐渐恢复。
A control method for single aileron jam at ultimate point by trimming with sideslip is proposed; the core idea behind the method is using sideslip angle to produce extra roll moment as a compensation for the asymmetry in roll moment caused by jam of single aileron. Firstly, the analysis of the trim result of the faulty UAV shows that the sideslip angle can be used to trim the asymmetry in roll moment. After that, a PID based control and generation method is proposed and designed using the faulty UAV model. The nonlinear simulation results and their analysis shows that the proposed solution is able to stabilize the faulty UAV rapidly and recover the control ability of the nor- mal aileron gradually.
出处
《西北工业大学学报》
EI
CAS
CSCD
北大核心
2014年第1期137-141,共5页
Journal of Northwestern Polytechnical University
关键词
无人机
副翼卡死
侧滑角控制
PID控制
ailerons, computer simulation, control, controllers, controllability, design, efficiency, fault tolerance, MATLAB, stability, unmanned aerial vehicles （UAV）, aileron jam, PID control, sideslip angle control
