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首页> 外文期刊>Journal of the Chinese Society of Mechanical Engineers, Series C: Transactions of the Chinese Society of Mechanical Engineers >Guidance and nonlinear flight control integrated design applied to unmanned air vehicle
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Guidance and nonlinear flight control integrated design applied to unmanned air vehicle

机译：制导与非线性飞行控制一体化设计在无人机中的应用

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摘要

A projection guidance integrated with nonlinear flight control law (PGINFC) is proposed in this study and is applied to the design of flight controller for an unmanned air vehicle (UAV). The PGINFC is designed by dividing the control law into guidance and flight control problems. Based on a point mass model, the guidance problem is to keep the air vehicle following a specified flight path toward a target location with constant air speed. To effectively integrate with the guidance law, the flight controller is designed with nonlinear feedback theory. Through the method of singular perturbation, aircraft system dynamics is separated into a fast and a slow models. Then, feedback linearization and sliding mode control are used to combine both models into a robust flight controller. A test case is included that shows the proposed PGINFC leading an UAV to arrive at a preset target position and to perform a circling maneuver. Testing procedures and the results of the testing are reported. To evaluate the design and to compare the simulation results, a nonreal-time single PC and a real-time two PCs platforms are implemented.
机译：本研究提出了一种与非线性飞行控制律（PGINFC）集成的投影制导，并将其应用于无人飞行器（UAV）的飞行控制器设计中。 PGINFC是通过将控制律分为制导和飞行控制问题来设计的。基于点质量模型，制导问题是使飞行器沿着指定的飞行路径以恒定的空速朝向目标位置行驶。为了有效地与制导律相结合，采用非线性反馈理论设计了飞行控制器。通过奇异摄动法，飞机系统动力学分为快速模型和慢速模型。然后，使用反馈线性化和滑模控制将两个模型组合成一个强大的飞行控制器。包括一个测试案例，该案例显示了拟议中的PGINFC可以引导无人机到达预设目标位置并执行盘旋动作。报告测试程序和测试结果。为了评估设计并比较仿真结果，实现了非实时单台PC和实时两台PC平台。

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