Nonlinear model transformation method of track loop based on observation compensation technology

Abstract

The invention discloses a nonlinear model transformation method of a track loop based on an observation compensation technology, and belongs to the technical field of navigation guidance and control of an unmanned aerial vehicle. A fixed-wing UAV track circuit motion model is decomposed into track declination and track dip motion model, a track velocity motion model and a lateral position and vertical position motion models, through introduction of an intermediate virtual control quantity and the equivalent transformation of the equation, items which are linearly independent of the virtual control quantity at the right end of the whole differential equation is regarded as the total interference to obtain the affine nonlinear form of the track loop motion model, the estimation of each trackmotion state and the total disturbance of the model based on the observation compensation technology of the linear extended state observer and perform compensation when the a track loop controller isdesigned. The method achieves model affine processing, the physical meaning of the processing process is clear, the parameter setting is convenient, and the engineering is easy to implement.

Description

technical field [0001] The invention belongs to the technical field of navigation, guidance and control of unmanned aerial vehicles, and in particular relates to a nonlinear model transformation method of track loop based on observation compensation technology. Background technique [0002] UAVs, also known as unmanned aerial vehicles, are widely used in military and civilian fields; the UAV track loop model refers to the mathematical model that describes the trajectory movement of UAVs. With the increasingly diverse tasks performed by UAVs, people's requirements for the performance of UAV flight controllers to resist external uncertain disturbances are also increasing. The traditional method of only relying on the attitude loop controller to resist external disturbances can no longer meet the needs. The non-affine nonlinearity of the UAV trajectory loop model further increases the research demand for the anti-disturbance nonlinear control of the UAV trajectory loop. Resear...

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Problems solved by technology

[0005] Comparing the essential characteristics of autonomous refueling control and manual manipulation control, there are the following essential differences between them: 1) In terms of control methods, autonomous control mostly adopts mature linear control methods, as recorded in reference documents 3 and 4, especially the LQR method Many, lack of targeted measures for uncertain disturbance

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