无人动力翼伞双环积分滑模控制器设计与仿真

无人动力翼伞系统具有非线性和较强耦合性的特点,飞行状态难以控制.为了对无人动力翼伞进行更好的控制,首先,建立了无人动力翼伞6-DOF数学模型.其次,以此模型为基础,针对无人动力翼伞三轴角速度和角度的控制设计了一种双环积分滑模控制器,并针对其三轴惯性位移的控制设计了一种滑模控制器.最后,通过MATLAB软件将比例-积分-微分(proportional-integral-derivative,PID)控制器与双环积分滑模控制器进行仿真对比分析.结果表明,建立的双环积分滑模控制器相较于工程中常用的PID控制器具有更快的响应速度以及更小的超调量,能够更好满足对无人动力翼伞飞行状态的控制需求.

Design and Simulation of Dual-Loop Integral Sliding Mode Controller for Unmanned Powered Parafoil

Unmanned powered parafoil system is characterized by nonlinearity and strong coupling, so the flight status of it is difficult to control. In order to better control the unmanned powered parafoil, the 6-DOF mathematical model of it is established in the article. Based on this model, a dual-loop integral sliding mode controller is designed for the control of the three-axis angular velocity and angle of the unmanned powered parafoil, and a sliding mode controller is designed for the control of the three-axis inertial displacement. Finally, through MATLAB software, the simulation analysis is made to compare PID controller and dual-loop integral sliding mode controller, the result shows that the response speed of dual-loop integral sliding mode controller is faster and the overshoot of it is smaller, which means that the flight status of unmanned powered parafoil will be better controlled.