【摘要】：無人機(jī)由于其特有的品質(zhì)在軍用和民用領(lǐng)域有著極其廣闊的發(fā)展前景。提高無人機(jī)對(duì)給定航跡的跟蹤能力對(duì)于提高無人機(jī)的應(yīng)用前景有著重要的影響。為此本文研究無人機(jī)的航跡跟蹤控制問題。主要研究?jī)?nèi)容包括以下幾個(gè)方面:首先,為了便于研究,建立了完整的小型固定翼無人機(jī)的數(shù)學(xué)模型�？紤]到小型無人機(jī)氣流擾動(dòng)速度占其巡航速度比重較大,航跡保持和控制均需考慮風(fēng)擾因素,因此數(shù)學(xué)模型中給出了風(fēng)力干擾模型。其次,在固定翼無人機(jī)非線性數(shù)學(xué)模型的基礎(chǔ)上,推導(dǎo)了內(nèi)環(huán)姿態(tài)控制傳遞函數(shù),考慮到小型固定翼無人機(jī)易受擾動(dòng)的特點(diǎn),采用增益調(diào)度控制策略,選擇若干特征點(diǎn)進(jìn)行了內(nèi)環(huán)滾轉(zhuǎn)、偏航和俯仰通道的控制器設(shè)計(jì)。然后,將外環(huán)的位置保持分成縱向高度通道、側(cè)向航向通道以及空速通道分別進(jìn)行研究�？紤]到無人機(jī)飛行空速易變,高度的保持與飛行空速依賴關(guān)系緊密所以將高度和飛行空速作為整體進(jìn)行控制,并根據(jù)偏離給定高度大小的不同,設(shè)計(jì)了分段控制的高度保持策略。航向通道作為對(duì)無人機(jī)執(zhí)行任務(wù)有重要影響的一環(huán),設(shè)計(jì)了增益調(diào)度控制策略。為了解決小型固定翼無人機(jī)在氣流擾動(dòng)情況下的制導(dǎo)問題,采用矢量場(chǎng)制導(dǎo)方法,根據(jù)Dubins航跡飛行的特點(diǎn)設(shè)計(jì)了直線及圓弧航跡的跟蹤策略。最后,設(shè)計(jì)了由PC/104及工業(yè)控制計(jì)算機(jī)組成的小型固定翼無人機(jī)控制算法驗(yàn)證半實(shí)物實(shí)時(shí)仿真平臺(tái),對(duì)半實(shí)物實(shí)時(shí)平臺(tái)的實(shí)時(shí)性、數(shù)據(jù)通信技術(shù)以及多線程技術(shù)進(jìn)行了研究,并對(duì)設(shè)計(jì)的全部算法進(jìn)行仿真分析。仿真的結(jié)果表明設(shè)計(jì)的控制器在擾動(dòng)情況下有良好的控制效果,在風(fēng)干擾情況下設(shè)計(jì)的矢量場(chǎng)制導(dǎo)方法能夠?qū)崿F(xiàn)對(duì)Dubins航跡的跟蹤。
[Abstract]:Unmanned aerial vehicle (UAV) has a broad prospect in military and civilian fields because of its unique quality. Improving the tracking ability of UAV to a given track has an important influence on the application prospect of UAV. Therefore, the track tracking control of UAV is studied in this paper. The main research contents include the following aspects: firstly, a complete mathematical model of small fixed-wing UAV is established to facilitate the research. Considering the large proportion of the airflow disturbance velocity to the cruise velocity of the small UAV, the wind disturbance model is given in the mathematical model because the wind disturbance factors should be taken into account in the track maintenance and control. Secondly, on the basis of nonlinear mathematical model of fixed-wing UAV, the transfer function of internal loop attitude control is derived. Considering the characteristics of small fixed-wing UAV, the gain scheduling control strategy is adopted. Some characteristic points are selected to design the controller for inner ring rolling, yaw and pitch channel. Then, the position of the outer loop is divided into longitudinal altitude channel, lateral heading channel and space velocity channel. Considering that the flight speed of UAVs is variable and that altitude maintenance is closely dependent on flight airspeed, altitude and airspeed are controlled as a whole, depending on the size of the deviation from a given altitude, The height retention strategy of subsection control is designed. As an important part of UAV mission execution, a gain scheduling control strategy is designed. In order to solve the guidance problem of small fixed-wing UAV under the condition of airflow disturbance, the tracking strategy of straight line and arc track is designed according to the characteristics of Dubins track flight using vector field guidance method. Finally, a real-time simulation platform is designed, which is composed of PC/104 and industrial control computer. The real-time, data communication technology and multi-thread technology of the real-time platform are studied. All the algorithms are simulated and analyzed. The simulation results show that the controller has a good control effect under disturbance, and the vector field guidance method designed under wind disturbance can track the track of Dubins.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2015
【分類號(hào)】：V279;V249.1

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