摘要
针对翼伞系统轨迹跟踪控制中强扰动、大时滞性等问题,提出一种基于切换策略的翼伞轨迹跟踪控制器。结合线性自抗扰控制抗扰动能力强、响应速度快,预测控制能有效克服系统时滞性、跟踪精度高、鲁棒性好等优点,采用2维轨迹跟踪制导策略通过跟踪目标轨迹的航向角实现对翼伞轨迹的跟踪控制;在切换策略中,依据航向角偏差量设计双切换量的控制器切换规则,降低控制器间切换频率,提高双控制器切换的可靠性。仿真结果表明,与单一的控制器相比,切换控制器对给定归航轨迹的跟踪具有更优的效果。
A parafoil trajectory tracking controller based on switching strategy is proposed to solve the problems of strong disturbance and large time delay in parafoil trajectory tracking control.Combining with the advantages of linear active disturbance rejection control(ADRC),which has strong disturbance rejection capability and fast response speed,and the advantages of predictive control,which can effectively overcome the time delay of the system,has high tracking accuracy and good robustness,the two-dimensional trajectory tracking guidance strategy is adopted to realize the tracking control of the parafoil trajectory by tracking the course angle of the target trajectory;In the switching strategy,the controller switching rule of dual switching quantity is designed according to the heading angle deviation,which reduces the switching frequency between controllers and improves the reliability of dual controller switching.Simulation results show that,compared with the single controller,the switching controller has better tracking performance for a given homing trajectory.
作者
王闯
刘蓉
杨明
王佑
Wang Chuang;Liu Rong;Yang Ming;Wang You(College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China;Unmanned Aerial Vehicle Research Institute,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China;Key Laboratory of Advanced Technology for Small and Medium-Sized Unmanned Aerial Vehicle,Ministry of Industry and Information Technology,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China)
出处
《兵工自动化》
北大核心
2025年第2期49-54,共6页
Ordnance Industry Automation
基金
173项目(19-163-**-**-006-**-**)
JKW创新项目(19-163-**-**-008-**-**)
国家重点研发计划重点专硕(2017YFC0822404)。
关键词
翼伞系统
轨迹跟踪
切换策略
线性自抗扰控制
预测控制
parafoil system
trajectory tracking
switching strategy
linear active disturbance rejection control
predictive control
