基于动态逆和动态滑模的双通道机动飞行控制

doi:10.16182/j.issn1004731x.joss.201801019

系统仿真学报 ›› 2018, Vol. 30 ›› Issue (1): 156-164.doi: 10.16182/j.issn1004731x.joss.201801019

基于动态逆和动态滑模的双通道机动飞行控制

杨盛毅^1,2, 刘超², 唐胜景², 杨伟力¹

1.贵州民族大学贵州省模式识别与智能系统重点实验室,贵阳 550025;
2.北京理工大学飞行器动力学与控制教育部重点实验室,北京 100081

收稿日期:2016-01-29 发布日期:2019-01-02
作者简介:杨盛毅(1986-),男,布依族,贵州平塘,博士,副教授,研究方向为飞行器动力学与控制。
基金资助:
国家自然科学基金(11572036),贵州省科学技术基金(黔科合J字LKM[2012]09,黔科合LH字[2015]7208),贵州省教育厅自然科学研究项目(黔教合KY字[2015]428)

Dual Channel Maneuver Flight Control Based on Dynamic Inverse and Dynamic Sliding Mode

Yang Shengyi^1,2, Liu Chao², Tang Shengjing², Yang Weili¹

1.Key Laboratory of Pattern Recognition and Intelligent Systems of Guizhou Province, Guizhou Minzu University, Guiyang 550025, China;
2.Key Laboratory of Dynamics and Control of Flight Vehicle , Ministry of Education , Beijing Institute of Technology, Beijing 100081, China

Received:2016-01-29 Published:2019-01-02

摘要/Abstract

摘要： 针对微小型四旋翼飞行器大角度快速机动飞行控制问题,提出一种基于动态逆与滑模控制的新型双通道机动飞行控制方法。通过滑模控制与动态逆结合,使系统对模型的不确定性及气动干扰有较好的鲁棒性,动态滑模有效地避免了系统抖振,且构造新的滑模面和飞行器姿态四元数正则模型,提高了控制精度,解决了飞行器奇异问题;动态逆则改善了系统的动态响应特性,在逆系统设计中,由于系统具有零动态,给出了该零动态的稳定性分析。仿真结果证明了控制方案的控制效果。

关键词: 动态逆, 动态滑模, 机动飞行, 零动态

Abstract: In order to solve the flight control problem of mini quadrotor with large angle and fast maneuver, a new dual channel maneuver flight control method based on dynamic inverse (DI) and sliding mode control (SMC) is proposed. By combining SMC and DI, this method makes the system robust to the model uncertainty and aerodynamic interference. The dynamic SMC effectively reduces system’s chattering. New sliding mode surface and quaternion regular model of aircraft attitude are built to improve the control precision and resolve the singular problem of aircraft. The DI improves the system’s dynamic response, and the stability analysis of zero dynamics is given in the inverse system design. The simulation results show the effectiveness of the proposed control scheme.

Key words: dynamic inverse, dynamic sliding mode, maneuver, zero dynamics

中图分类号:

V249.12

杨盛毅, 刘超, 唐胜景, 杨伟力. 基于动态逆和动态滑模的双通道机动飞行控制[J]. 系统仿真学报, 2018, 30(1): 156-164.

Yang Shengyi, Liu Chao, Tang Shengjing, Yang Weili. Dual Channel Maneuver Flight Control Based on Dynamic Inverse and Dynamic Sliding Mode[J]. Journal of System Simulation, 2018, 30(1): 156-164.

参考文献

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基于动态逆和动态滑模的双通道机动飞行控制

Dual Channel Maneuver Flight Control Based on Dynamic Inverse and Dynamic Sliding Mode

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