Adaptive augmentation control theory-based three-axis full authority control method for flying wing unmanned aerial vehicle

Abstract

The invention provides an adaptive augmentation control theory-based three-axis full authority control method for a flying wing unmanned aerial vehicle. According to the method, firstly a feedforwarddecoupling compensation controller is designed, so that the angular rate coupling can be counteracted; for a decoupled linear model, a self-adaptive augmentation controller is designed based on angular rate feedback, so that the problems that nonlinear coupling and unmodeled dynamics still exists in the model due to the fact that the feedforward decoupling controller cannot completely counteract the coupling amount are solved. Compared with an attitude control scheme, the angular rate control scheme accelerates the dynamic response speed of an inner loop, improves the damping characteristic, and expands the control surface to all available ranges. According to the method of the invention, the adaptive control part is added on the basis of the traditional PID control method, so that the consistent performance of a closed-loop system can be maintained under the conditions of uncertain dynamic and unknown parameter change of the system, and the robustness and the anti-interference capability of the system are improved.

Description

technical field [0001] The invention relates to the technical field of aircraft flight control, and mainly relates to a three-axis full-authority control method for a flying-wing unmanned aerial vehicle based on an adaptive augmented control theory. Background technique [0002] At present, as the modern warfare environment becomes more and more complex, UAVs with flying wing layout have received more and more attention and research because of their advantages such as high aerodynamic efficiency and good stealth. In order to improve the efficiency and safety of flight missions, the UAV control system must still have good control quality in complex environments. [0003] The inner loop control of most UAVs adopts the attitude angle control structure based on PID control theory, which has the advantages of clear and simple structure, easy engineering implementation and strong reliability, but when disturbed, the control performance is guaranteed by sacrificing the system robu...

AI Technical Summary

Problems solved by technology

[0003] The inner loop control of most UAVs adopts the attitude angle control structure based on PID control theory, which has the advantages of clear and simple structure, easy engineering implementation and strong reliability, but when disturbed, the control performance is guaranteed by sacrificing the system robustness

For flying-wing UAVs, the heading is statically unstable and the Dutch roll damping is weak. If the stability control is not added, it is easy to drift during flight.

The inner loop controller designed based on the attitude angle has slow dynamic response, phase lag and tracking static error, and the tracking performance of the PID controller designed using classical control theory deteriorates sharply when the system has a large uncertainty, which induces a relatively large Strong nonlinear characteristics, even lead to system instability

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