计算机工程与应用2012，Vol.48Issue(25)：15-19,5.DOI:10.3778/j.issn.1002-8331.2012.25.004
速度分段的增量动态逆小型无人机控制律设计
Design of flight control laws for small UAV with velocity-section incremental dynamic inversion
摘要
Abstract
A control method of the velocity-section incremental non-linear dynamic inversion is presented aiming to solve the low accuracy of the parameter in the small UAV model. Based on the UAV moment equation and non-linear dynamic inversion, the relation is constructed that angular acceleration is implicit input and the control surface deflection is the output. Then the angular acceleration is computed based on small perturbation theory. The angular acceleration increment caused by the aircraft frame is computed in different velocity sections and the result is used as a method of the correct factor, and the direct relation of the incremental control-surface deflection and the angular acceleration is derived. The inner-loop and the outer-loop control laws are constructed based on the newly-discovered relation. The angular acceleration feedback reduces the sensitivity to the model parameter. The existence of the correct factor enhances the control accuracy of UAV in complex conditions. The simulation experiments prove the validity of this method.关键词
增量非线性动态逆/小型无人机/速度分段/AerosimKey words
incremental non-linear dynamic inversion/ small UAV/ velocity-section/ Aerosim分类
航空航天引用本文复制引用
郑积仕,蒋新华,陈兴武..速度分段的增量动态逆小型无人机控制律设计[J].计算机工程与应用,2012,48(25):15-19,5.基金项目
福建省科技厅重点项目(No.2009H0002) （No.2009H0002）
福建省教育厅项目(No.JA11186) （No.JA11186）
福建工程学院科研启动项目(No.GY-Z10057). （No.GY-Z10057）
