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首页> 外文期刊>Journal of Aerospace Sciences and Technologies >DEVELOPMENT AND TUNING OF A NONLINEAR SIX DOF MODEL AND CONTROLLERS FOR A LARGE UAV
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DEVELOPMENT AND TUNING OF A NONLINEAR SIX DOF MODEL AND CONTROLLERS FOR A LARGE UAV

机译：大型无人机非线性六自由度模型和控制器的开发与调试

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This paper presents development of non-linear six-degree-of-freedom model for a large UAV and simulation of its dynamics during its landing phase. A non-linear six-degree-of-freedom aircraft model was developed using the block available in the Aerosim Aeronautical Simulation Blockset in MATLAB / SIMULINK environment. The aircraft parameter data for a large UAV was taken. The developed model could be used for simulating the dynamics of the UAV with single piston engine and fixed pitch propeller. The following controllers were tuned using the above model to simulate its landing phase. 'Bank to Aileron', 'Airspeed error to Pitch command', 'Pitch error to Elevator deflection', 'Engine rpm error to Throttle'. The first approach was by conventional techniques using PI and PID controllers. In the next stage fuzzy logic controllers were designed for the above cases. All fuzzy controllers were designed using Mamdani inference system.
机译：本文介绍了大型无人机的非线性六自由度模型的开发及其在降落阶段的动力学仿真。使用MATLAB / SIMULINK环境中的Aerosim航空仿真模块组中可用的模块，开发了非线性六自由度飞机模型。取得了大型无人机的飞机参数数据。所开发的模型可用于模拟单活塞发动机和固定螺距螺旋桨的无人机动力学。使用上述模型对以下控制器进行了调整，以模拟其着陆阶段。 “倾斜到副翼”，“空速到俯仰命令的误差”，“俯仰到电梯偏转的误差”，“发动机转速到油门的误差”。第一种方法是使用PI和PID控制器的常规技术。在下一阶段，针对上述情况设计了模糊逻辑控制器。所有模糊控制器均采用Mamdani推理系统进行设计。

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