A three-axis full-authority control method for flying-wing unmanned aerial vehicles based on adaptive augmented control theory

Abstract

The present invention provides a three-axis full-authority control method for flying-wing unmanned aerial vehicles based on adaptive augmentation control theory. First, a feed-forward decoupling compensation controller is designed to offset angular rate coupling; for the decoupled linear model, based on The angular rate feedback design adaptive augmented controller solves the problem that the feedforward decoupling controller cannot completely offset the coupling amount, and there are still nonlinear coupling and unmodeled dynamic problems in the model; compared with the attitude control scheme, the angular rate control The scheme speeds up the dynamic response speed of the inner loop and improves the damping characteristics, and extends the control surface to the entire available range; the present invention adds an adaptive control part on the basis of the traditional PID control method, which can make the system dynamic in the presence of uncertainty The consistency performance of the closed-loop system is maintained under the condition of unknown parameters and parameters, and the robustness and anti-interference ability of the system are improved.

Description

technical field [0001] The invention relates to the technical field of aircraft flight control, and mainly relates to a three-axis full-authority control method for a flying-wing unmanned aerial vehicle based on an adaptive augmented control theory. Background technique [0002] At present, as the modern warfare environment becomes more and more complex, UAVs with flying wing layout have received more and more attention and research because of their advantages such as high aerodynamic efficiency and good stealth. In order to improve the efficiency and safety of flight missions, the UAV control system must still have good control quality in complex environments. [0003] The inner loop control of most UAVs adopts the attitude angle control structure based on PID control theory, which has the advantages of clear and simple structure, easy engineering implementation and strong reliability, but when disturbed, the control performance is guaranteed by sacrificing the system robu...

AI Technical Summary

Problems solved by technology

[0003] The inner loop control of most UAVs adopts the attitude angle control structure based on PID control theory, which has the advantages of clear and simple structure, easy engineering implementation and strong reliability, but when disturbed, the control performance is guaranteed by sacrificing the system robustness

For flying-wing UAVs, the heading is statically unstable and the Dutch roll damping is weak. If the stability control is not added, it is easy to drift during flight.

The inner loop controller designed based on the attitude angle has slow dynamic response, phase lag and tracking static error, and the tracking performance of the PID controller designed using classical control theory deteriorates sharply when the system has a large uncertainty, which induces a relatively large Strong nonlinear characteristics, even lead to system instability

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