小型涵道风扇无人机自适应解耦控制律设计

为解决小型涵道风扇式无人机俯仰通道和滚转通道之间的惯性耦合问题,采用简单自适应控制(simple a-daptive control,SAC)方法对无人机姿态角速度控制回路设计模型参考自适应控制器,使该控制回路在受到不确定扰动和参数摄动的影响下,仍能稳定跟随参考模型输出;同时对所构造参考模型进行串联前馈解耦,以使无人机跟随参考模型同步解耦,进而实现对无人机姿态角速度和自身姿态角的有效控制.仿真结果显示,该控制律能使无人机姿态稳定跟踪参考模型输出,并且有效抑制了被控对象参数摄动带来的不利影响,控制系统具有较强的自适应性和鲁棒性.

Design of Adaptive Decoupling Control Law for Miniature Duct-Fan UAV

To solve the problem of inertia coupling between the pitch control loop and roll control loop for small duct-fan UAV, the simple adaptive control (SAC) method was adopted to design the model reference adaptive controller for the control loop of the attitude angular velocity of the UAV. This control loop could be able to follow the output of reference model stably under the influence of the uncertain disturbance and parameter perturbations. Meanwhile, feed-forward decoupling in series to the constructed the reference model, the UAV could follow the reference model to be decoupled synchronously, and thus the effective control to the attitude angular velocity and the attitude angle of the UAV could be achieved. The simulation results show that the control law can make UAV attitude stably follow the reference model output, and it is not sensitive to parameter perturbation. The control system is strongly adaptive and robust.