【摘要】：近年來(lái)，隨著無(wú)人機(jī)在軍事和民用的應(yīng)用范圍不斷擴(kuò)大，無(wú)人機(jī)在執(zhí)行任務(wù)時(shí)方便、安全、低成本的優(yōu)點(diǎn)得到了很好的體現(xiàn)。飛行控制系統(tǒng)是無(wú)人機(jī)的核心，是無(wú)人機(jī)能夠高效完成飛行任務(wù)的關(guān)鍵。有關(guān)無(wú)人機(jī)飛行控制系統(tǒng)的研究也受到了某些科研院所、高校和公司越來(lái)越多的關(guān)注。 傳統(tǒng)的控制方法采用PID控制，并成功應(yīng)用于無(wú)人機(jī)實(shí)際飛行中，本文以航磁探測(cè)無(wú)人機(jī)為例，介紹了飛行控制系統(tǒng)的組成和控制器設(shè)計(jì)，并在此基礎(chǔ)上，提出基于多模型控制的無(wú)人機(jī)飛行控制方法。 首先，簡(jiǎn)述了無(wú)人機(jī)及其飛行控制系統(tǒng)的發(fā)展，對(duì)當(dāng)前飛行控制中采用的一些控制方法進(jìn)行了一定的分析和比較，并介紹了無(wú)人機(jī)數(shù)學(xué)模型的建立及其線性化方法。 其次，以實(shí)驗(yàn)室航磁探測(cè)無(wú)人機(jī)飛行控制系統(tǒng)為例，介紹了固定翼無(wú)人機(jī)飛行控制系統(tǒng)的組成，對(duì)地面站系統(tǒng)以及機(jī)載控制系統(tǒng)做了一定的分析。并重點(diǎn)介紹了常規(guī)布局的固定翼無(wú)人機(jī)自動(dòng)駕駛儀的控制律設(shè)計(jì)以及導(dǎo)航控制策略，，通過(guò)引入內(nèi)環(huán)角速率反饋設(shè)計(jì)了高度、速度和航向控制回路，使得無(wú)人機(jī)按照預(yù)先設(shè)置好的指令完成飛行任務(wù)，通過(guò)外出實(shí)際飛行實(shí)驗(yàn)，驗(yàn)證了設(shè)計(jì)的基于PID控制的飛行控制系統(tǒng)控制性能，能夠滿足課題任務(wù)的控制要求。 然后，針對(duì)PID控制的一些不足，提出了多模型控制方法。另因空氣動(dòng)力參數(shù)等原因，無(wú)法建立實(shí)驗(yàn)室無(wú)人機(jī)準(zhǔn)確的數(shù)學(xué)模型，所以本文以各項(xiàng)實(shí)驗(yàn)參數(shù)公開(kāi)的美國(guó)F-16戰(zhàn)斗機(jī)為控制對(duì)象，建立多個(gè)飛機(jī)模型，并根據(jù)這些模型建立相應(yīng)的控制器，探究了多模型控制方法在固定翼無(wú)人機(jī)飛行控制中的應(yīng)用，仿真結(jié)果驗(yàn)證了該方法在無(wú)人機(jī)飛行控制中的有效性，為后面進(jìn)一步研究多模型控制在無(wú)人機(jī)中的應(yīng)用提供了一種參考。 最后，針對(duì)所做的內(nèi)容進(jìn)行了總結(jié)與分析，結(jié)合實(shí)驗(yàn)室課題以及實(shí)際調(diào)試經(jīng)驗(yàn)，提出了今后研究的重點(diǎn)和方向。
[Abstract]:In recent years, with the increasing application of UAV in military and civilian applications, the advantages of convenience, safety and low cost of UAV are well reflected. Flight control system (FCS) is the core of UAV and the key of UAV to accomplish flight mission efficiently. The research on UAV flight control system has been paid more and more attention by some research institutes, universities and companies. The traditional control method adopts PID control, and is successfully applied in the actual flight of UAV. This paper introduces the composition and controller design of flight control system, taking aeromagnetic detection UAV as an example, and on this basis, A flight control method for UAV based on multi-model control is proposed. Firstly, the development of UAV and its flight control system is briefly introduced, and some control methods used in flight control are analyzed and compared, and the mathematical model of UAV and its linearization method are introduced. Secondly, taking the aeromagnetic detection UAV flight control system as an example, the composition of the fixed-wing UAV flight control system is introduced, and the ground station system and the airborne control system are analyzed. The control law design and navigation control strategy of the fixed wing UAV autopilot with conventional layout are emphatically introduced. The altitude, speed and course control loop are designed by introducing the inner loop angular rate feedback. It makes the UAV complete the flight mission according to the pre-set instructions. The flight control system based on PID control is verified by the actual flight experiment, which can meet the control requirements of the task. Then, aiming at some shortcomings of PID control, a multi-model control method is proposed. Because of aerodynamic parameters and other reasons, it is not possible to establish an accurate mathematical model of the UAV in the laboratory. Therefore, in this paper, the American F-16 fighter aircraft with various experimental parameters are taken as the control object, and several aircraft models are established. According to these models, the corresponding controllers are established, and the application of multi-model control method in the flight control of fixed-wing UAV is explored. The simulation results verify the effectiveness of the method in UAV flight control. It provides a reference for the further study of the application of multi-model control in UAV. Finally, the contents are summarized and analyzed, and the emphasis and direction of the future research are put forward based on the laboratory project and the practical debugging experience.
【學(xué)位授予單位】：北京理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2015
【分類號(hào)】：V279

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