微型涵道飞行器的自适应逆控制方法

微型涵道飞行器可以悬停、垂直起降和前飞，且安全性高、结构紧凑、噪声低。但是,微型涵道飞行器由于大飞行包线、特殊气动布局、低速度、小尺寸和复杂飞行环境，所以具有明显的非定常和非线性飞行力学特性。针对这一问题，研究了应用动态逆控制律的新方法--神经网络自适应逆。采用动态逆控制器、神经网络补偿器、比例微分(proportion-derivative,PD)补偿器和伪控制补偿器构建了微型涵道飞行器飞行控制系统。仿真结果表明，相比动态逆 比例积分微分(proportion-integral-derivative,PID控制系统，本文设计的自适应逆控制系统具有更强的稳定性和鲁棒性。

Adaptive inverse control for ducted fan micro air vehicle

The ducted fan micro aerial vehicle(MAV) can hover,take off and land vertically and fly forward with high security,compact structure and low noise.However,the flight dynamics of a ducted fan MAV is remarkably unsteady and nonlinear due to its big flight envelope,special aerodynamic configuration,low speed,small size,and complex flight environment.In view of this condition,a new control method of dynamic inversion with neural network is employed.A new flight control system of the ducted fan MAV is composed of dynamic inversion controller,neural network compensators,proportion-derivative(PD)compensators and pseudo-control compensators.Simulation results demonstrate that the adaptive inverse control system is much more stable and robust than the dynamic inversion-proportion-integral-derivative(PID)control system.