Unmanned aerial vehicle tilt turning method adopting non-minimum phase corrector

Abstract

The invention relates to an unmanned aerial vehicle tilt turning method adopting a non-minimum phase corrector. Firstly, an expected mass center position signal of lateral movement is set according toa flight mission, a GINS100 type MEMS sensor is installed, the roll angle and the lateral acceleration of the aircraft are measured, and a lateral speed and a position signal are obtained through integration. A position error signal, an integral signal and a speed signal are superposed to obtain a position comprehensive signal, a non-minimum phase corrector is designed to obtain a roll angle expected signal, the roll angle expected signal is compared with a roll angle measurement signal to obtain a roll angle error signal, and non-linear integration and filtering differential calculation is carried out to form a comprehensive control signal of a roll channel, and tilt turning of the unmanned aerial vehicle is achieved in the uncontrolled state of a yawing channel. The method has the advantages that the non-minimum phase reverse motion characteristic of lateral motion is eliminated, so that the turning has good dynamic performance.

Description

technical field [0001] The invention relates to the field of center-of-mass control of unmanned aerial vehicles, in particular to a method for tilting and turning of unmanned aerial vehicles using a non-minimum phase corrector. Background technique [0002] The lateral center of mass control of an aircraft, whether it is a manned aircraft, such as an aircraft, a fighter, or an unmanned aircraft, is currently widely used in two ways: sideslip turn and bank turn. The sideslip turn is realized through the control of the yaw channel, and the roll channel is basically uncontrolled, just keep stable. The banked turn can realize the turn by controlling the roll angle of the roll channel, and at the same time, the yaw channel is free to fly without control. Comparing the two techniques, sideslip turns are more stable but less maneuverable, while banked turns are quicker but less stable than sideslip turns. However, some unmanned aerial vehicles have relatively obvious non-minimum ...

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Problems solved by technology

[0004] The object of the present invention is to provide a method of tilting and turning an unmanned aerial vehicle using a non-minimum phase corrector, and then at least to a certain extent overcome the problem of the reverse motion of the initial section of the tilting and turning of the unmanned aerial vehicle caused by the limitations and defects of the related technology question

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