无人机自动着陆纵向控制技术研究

【作者】 何慧；

【导师】 周川；

【作者基本信息】 南京理工大学 ， 检测技术与自动化装置， 2008， 硕士

【摘要】 近年来无人机的研制在世界范围内蓬勃发展,世界各国都在大力发展各种用途的无人飞行器;因为无人机具有许多载人机无可比拟的优点,能出色完成许多载人机难以胜任的任务,但同时也存在许多问题需要解决;其关键的技术之一就是无人机完成任务后的安全着陆回收问题,精确的控制律设计对无人机的安全自动着陆必不可少。本文首先建立了无人机六自由度非线性数学模型,并详细分析了其动力学特性和动态响应曲线:随后根据无人机的对象特性和着陆系统的总体结构,提出了着陆阶段的品质和性能要求,同时详尽设计了无人机自动着陆过程的下滑轨迹。然后,针对经典PID控制方法所设计的控制律响应速度慢、振荡等现象,提出了一种基于切换输出比例因子的自调整模糊控制方法,设计了自动着陆的控制律:仿真结果表明,该方法有效地实现了轨迹跟踪控制,具有良好的动态和静态性能;并通过加入随机干扰,验证了所设计系统的鲁棒稳定性。最后,分析了无人机在着陆过程中的各种随机干扰、非线性和其它不确定项,并针对不确定外部干扰和白噪声干扰设计了H_∞和H₂线性状态反馈控制器,使系统保持鲁棒稳定;在两种干扰同时存在的条件下,采用混合H₂/H_∞鲁棒控制,无人机仍能满足自动着陆的各项性能指标。更多还原

【Abstract】 In recent years the developments of Unmanned Aircraft Vehicle （UAV） in the world flourish, various uses of UAV are vigorously developed in the world. UAVs have many advantages that manned aircraft unmatched, dependence on manned aircraft is difficult with competent, but also there are many problems to be solved. One of its key technologies is the safety of landing recovery after completing its mission, precise control law designed for the safety of automatic landing is essential.This paper first established a non-linear mathematical UAV model of six degrees of freedom, and a detailed analysis of its dynamic characteristics and dynamic response curve. Followed, in accordance with the object of landing systems, the quality of the landing phases and performance requirements were listed. Finally paper detailedly design the process of automatic landing trajectory.Then, classic PID control methods were designed with the slow response to control law, vibration and other phenomenon, a method based on switching the ratio of output of the self-adjusting fuzzy controller was designed. Simulation results showed that the method was effective realized on the tracking control, and had a good dynamic and static performance. At the same time by joining random interference, the robust stability of the system was verified.Finally, various kinds of interference may be encountered in the course of auto landing were introduced. And then paper designed H_∞and H₂ controller to against uncertain systems and white noise interference. At last hybrid H₂/H_∞robust control the condition with theexistence of two kinds of interference at the same time, the automatic landing can still meet the performance targets.更多还原