航空学报2026，Vol.47Issue(11)：340-358,19.DOI:10.7527/S1000-6893.2025.32760
基于分级PID的无人机全电刹车控制方法
All-electric braking control method for UAVs based on hierarchical PID
摘要
Abstract
To address the strong nonlinearity,high coupling,and time-varying parameters of Unmanned Aerial Ve-hicle(UAV)all-electric braking systems,this paper proposes a hierarchical PID control strategy.The control param-eters are adjusted in different stages according to the slip ratio to improve the aircraft's deceleration performance.First,models of aircraft ground taxiing dynamics,wheel dynamics,tire-runway friction,and all-electric actuators were developed in Simulink.Furthermore,a predictive model for the brake disc friction coefficient is established using a Ge-netic Algorithm(GA)-optimized BP neural network,accounting for its real-time variations with temperature and braking pressure.A hierarchical PID control system comprising baseline braking,dynamic adjustment braking,and anti-skid braking is then designed.Through simulation analysis,a comparative study was conducted on the control perfor-mance of PD+PBM control and hierarchical PID control.Experimental verification of the hierarchical PID control strat-egy is also carried out on a ground inertia test bench.The results demonstrate that the proposed hierarchical PID method achieves superior control performance.The error between simulation and experimental results is within 11%,validating both the correctness of the simulation model and the effectiveness of the control strategy.The hierarchical PID controller exhibits satisfactory performance,enabling the aircraft to attain high deceleration rates under various op-erating conditions.Even under the most extreme and adverse condition-a wet runway with wet brake disks-the aver-age deceleration rate of the aircraft in both simulation and experiments exceeds 2 m/s2,with an error between them within 5.58%.关键词
高速无人机/全电刹车/摩擦系数预测/分级PID控制/刹车惯性台试验Key words
high-speed UAV/all-electric braking/friction coefficient prediction/hierarchical PID control/brake inertia bench分类
航空航天引用本文复制引用
赵国栋,尹乔之,张颂旸,魏小辉,聂宏..基于分级PID的无人机全电刹车控制方法[J].航空学报,2026,47(11):340-358,19.基金项目
国家自然科学基金(52375102,U2570210,52275114) （52375102,U2570210,52275114）
江苏省基础研究计划(BK20250181) （BK20250181）
中央高校基本科研业务费专项资金(NN2025005,NJ2024003) （NN2025005,NJ2024003）
江苏高校优势学科建设工程 National Natural Science Foundation of China(52375102,U2570210,52275114) （52375102,U2570210,52275114）
Natural Science Foundation of Jiangsu Province(BK20250181) （BK20250181）
the Fundamental Research Funds for the Central Universities(NN2025005,NJ2024003) （NN2025005,NJ2024003）
the Priority Academic Program Development of Jiangsu Higher Education Institutions （）
