摘要
针对翼伞系统在飞行过程中的实际情况,提出一种基于切换系统的翼伞飞行轨迹跟踪控制理论,采用线性自抗扰控制与比例积分微分控制相互切换的控制方法。利用线性自抗扰控制响应速度快、抗扰能力强与比例积分微分控制依赖误差信号便可实现基本控制的优点,采用切换控制对给定参考轨迹的方位角进行跟踪,实现对规划轨迹的跟踪控制。在切换系统中,根据给定飞行轨迹是否为直线、给定轨迹的转弯半径与实际飞行半径误差的大小,进行控制器的切换。仿真结果表明,与文中任意单一控制相比,切换系统更具优势,对飞行轨迹的跟踪控制效果更好。
This paper proposes a theory of parafoil flight trajectory tracking control based on switching systems,which adopts a control method of switching between linear active disturbance rejection control and proportional integral derivative controller.The linear active disturbance rejection control has fast response speed and strong anti-interference ability,and the proportional integral derivative controller relies on error signals to achieve basic control.Switching control is adopted to track and control the azimuth angle of a given reference trajectory;in the switching system,it is determined whether to switch to the corresponding controller based on whether the given reference trajectory is a straight flight,whether the given turning radius of the flight trajectory changes,and so on.The simulation results show that compared with any single control,the switching system has more advantages and better tracking control performance on the flight trajectory.
作者
孙宇轩
朱二琳
Sun Yuxuan;Zhu Erlin(School of Mechanical Engineering,Jiangsu University of Technology,Changzhou 213001,China;School of Electrical&Information Engineering,Jiangsu University of Technology,Changzhou 213001,China)
出处
《电子测量技术》
北大核心
2025年第24期43-50,共8页
Electronic Measurement Technology
基金
国家自然科学基金(62401234)项目资助。
关键词
翼伞系统
切换控制
轨迹跟踪
线性自抗扰控制
比例积分微分控制
parafoil system
switching control
trajectory tracking
linear active disturbance rejection control
proportional integral derivative control
