基于自适应动态逆的着舰控制器设计

doi:10.12305/j.issn.1001-506X.2022.01.27

摘要/Abstract

摘要：

针对舰载无人机着舰过程中存在参数不确定、舰尾流干扰等问题, 设计了一种基于自适应动态逆的着舰控制律。通过动态逆消除了非线性以及多变量耦合, 在此基础上加入自适应律, 分别设计了俯仰姿态控制器和速度控制器, 并应用Lyapunov稳定性原理修正了自适应律并用来处理动力受限时的速度控制问题, 保证动力补偿系统的稳定性。仿真验证结果表明，该控制方法具有较好的动态性能与鲁棒性, 能够在复杂环境下以较高精度跟踪期望值, 符合无人机着舰指标要求。

关键词: 舰载无人机, 非线性动态逆, 自适应控制, 姿态控制, 动力补偿

Abstract:

Aiming at the problem of parameter uncertainty and carrier air wake interference in the process of carrier-based unmanned aerial vehicle (UAV) landing, a carrier landing control law based on adaptive dynamic inversion is designed. The nonlinearity and multi-variable coupling are eliminated by dynamic inversion. On this basis, an adaptive law is added. The pitch attitude controller and the speed controller are designed respectively, and the Lyapunov stability principle is used to modify the adaptive law to deal with the problem of speed control under limited power, which ensures the stability of the power compensation system. The simulation results show that the control method has good dynamic performance and robustness, which can track the expected value with high accuracy in complex environments to meet the requirements of unmanned aerial vehicle(UAV) carrier landing indicators.

Key words: carrier-based unmanned aerial vehicle (UAV), nonlinear dynamic inversion, adaptive control, attitude control, power compensation

中图分类号:

V448.2

王双双, 李春涛, 王震, 苏子康, 戴飞. 基于自适应动态逆的着舰控制器设计[J]. 系统工程与电子技术, 2022, 44(1): 218-225.

Shuangshuang WANG, Chuntao LI, Zhen WANG, Zikang SU, Fei DAI. Design of carrier landing controller based on adaptive dynamic inversion[J]. Systems Engineering and Electronics, 2022, 44(1): 218-225.

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