机器人2013，Vol.35Issue(1)：98-106,9.DOI:10.3724/SP.J.1218.2013.00098
无人旋翼飞行器自适应飞行控制系统设计与仿真
Design and Simulation of an Adaptive Flight Control System for Unmanned Rotorcraft
摘要
Abstract
The principle of the model inverse controller is discussed in order to design an unmanned rotorcraft flight control system applicable to different mission tasks. A neural network compensation controller and online algorithms of its weight coefficients are proposed, and the stability of the synthesized controller is analyzed. The rotational dynamics inverse controller and translational dynamics inverse controller for the unmanned rotorcraft are deduced. The attitude inner loop controller and trajectory outer loop controller are designed. The control distribution strategy of the driving motor is determined to control the speed of coaxial rotor. A combined maneuver flight mission task is planned to imitate automatic flight motion. The adaptive flight control system is verified with simulation, and the flight control abilities of horizontal and vertical motion, hover and heading motion are demonstrated and validated. These results show that the designed adaptive flight control system has adaptability and robustness, and can realize attitude stability and trajectory following.关键词
无人飞行器/动态逆/神经网络/自适应控制/飞行控制/仿真验证Key words
unmanned aerial vehicle (UAV)/ dynamic inversion/ neural network/ adaptive control/ flight control/ simulation and demonstration分类
航空航天引用本文复制引用
夏青元,徐锦法,张梁..无人旋翼飞行器自适应飞行控制系统设计与仿真[J].机器人,2013,35(1):98-106,9.基金项目
国防预研项目(B2520110008). （B2520110008）
