预测增量动态逆无人机姿态控制

摘要

针对小型无人机模型参数精度不高的问题，提出一种预测增量动态逆姿态控制方法。该方法以角加速度作为姿态控制的反馈，从而降低了控制系统对模型参数的敏感性。根据无人机力矩方程，先将角加速度计算式写成增量形式；再根据非线性动态逆方法构建出角加速度为隐式输入、舵面偏转量增量为输出的直接关系式；在控制器中引入预测滤波器，对角加速度进行滤波和预测，提高反馈信号的精度和实时性。飞行实验表明方法是有效性的。%A control method of the prediction incremental dynamic inversion is presented aiming to solve the low accuracy of the parameters in the small UAV model. The angular acceleration is taken as the feedback of the attitude control system and the sensitivity to the model parameter is reduced by the method. Based on the UAV moment equation, an incremental formulation is conducted to calculate the angular acceleration. The direct relation is constructed that angular acceleration is implicit input and the control surface deflection is the output based on the theory of dynamic inversion. A predictive filter is used in the controller to filter and predict the value of the angular acceleration, which enhance the accuracy and real-time of the feedback signal. The flight experiment proves the validity of the method presented in this paper.