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针对低空飞行时转动惯量的不确定性、外界的干扰以及多通道的强耦合性及非线性的问题,设计具有宽适应性的控制策略,在有限时间内能够快速地、高精度地实现飞行器姿态跟踪控制。基于飞行器姿态非线性模型,对各通道(俯仰、偏航、滚转通道)设计了一种改进的自适应鲁棒滑模控制器,控制器是连续可导的,为了防止控制器输出过大,对自适应控制率算法进行了改进。仿真结果表明:所设计的姿态控制器能够保证飞行器快速、精确地跟踪指令,并且对滑模的抖振现象具有较强的抑制作用;此外,在外加干扰时,姿态角的波动幅度不超过0.1%,可见控制器具有较强的鲁棒性能。
In view of the uncertainties of moment of inertia in low-altitude flight, external disturbances and multi-channel strong coupling and nonlinear problems, a control strategy with wide adaptability is designed and the attitude of the aircraft can be quickly and accurately achieved within a limited time Tracking control. Based on the attitude non-linear model of the aircraft, an improved adaptive robust sliding mode controller is designed for each channel (pitch, yaw, roll channel). The controller is continuously derivable. In order to prevent the controller output from being too large , The algorithm of adaptive control rate is improved. The simulation results show that the designed attitude controller can ensure the aircraft to track the command quickly and precisely and suppress the chattering of the sliding mode strongly. In addition, when the disturbance is applied, the fluctuation of the attitude angle does not exceed 0.1 %, Shows that the controller has strong robustness.