无人机地面滑跑前轮方向舵联合纠偏控制系统设计

Design of Lateral Deviation Correction Control for UAV taxing with Node Wheel and Rudder

摘要:

针对无人机地面滑跑过程中的侧向纠偏问题,建立了无人机地面滑跑的全量非线性模型;通过机轮坐标系的引入,重点分析了地面作用力模型的建立方法;为了使用经典控制理论进行控制系统的设计,通过控制指令分配,将多输入单输出的无人机滑跑模型转化为单输入单输出的系统;利用该模型,以某型民用无人机的具体参数为基础,设计了前轮和方向舵联合偏转的滑跑纠偏控制系统;仿真结果表明,所设计系统满足性能指标要求；与单独前轮纠偏、单独方向舵纠偏方案进行了对比,结果表明,采用前轮和方向舵进行联合纠偏,不但可以兼顾低速和高速时的纠偏效果,而且提高了系统的抗风能力。

Abstract:

The deviation-correction control for UAV taxing is studied. The various forces and torques from the ground are fully analyzed. The model of the ground forces and torques is established by introducing the wheel coordinates. In order to apply the classic theory for control design, the model of UAV is transferred into a SISO system by distributing the command between the rudder channel and the node wheel channel. Using this model, based on the parameters of a civil UAV, a deviation-correction control system using node wheel and rudder is designed. The simulation shows that the designed system satisfies the demand and has good dynamics at both low speed and high speed, and has a better ability against lateral wind.