微型涵道飞行器的自适应逆控制方法

摘要

微型涵道飞行器可以悬停、垂直起降和前飞,且安全性高、结构紧凑、噪声低.但是,微型涵道飞行器由于大飞行包线、特殊气动布局、低速度、小尺寸和复杂飞行环境,所以具有明显的非定常和非线性飞行力学特性.针对这一问题,研究了应用动态逆控制律的新方法——神经网络自适应逆.采用动态逆控制器、神经网络补偿器、比例微分( proportion-derivative,PD)补偿器和伪控制补偿器构建了微型涵道飞行器飞行控制系统.仿真结果表明,相比动态逆-比例积分微分(proportion-integral-derivative,PID控制系统,本文设计的自适应逆控制系统具有更强的稳定性和鲁棒性.%The ducted fan micro aerial vehicle (MAV) can hover, take off and land vertically and fly forward with high security, compact structure and low noise. However, the flight dynamics of a ducted fan MAV is remarkably unsteady and nonlinear due to its big flight envelope, special aerodynamic configuration, low speed, small size, and complex flight environment. In view of this condition, a new control method of dynamic inversion with neural network is employed. A new flight control system of the ducted fan MAV is composed of dynamic inversion controller, neural network compensators, proportion-derivative (PD)compensators and pseudo-control compensators. Simulation results demonstrate that the adaptive inverse control system is much more stable and robust than the dynamic inversion-proportion-integral-derivative (PID) control system.