【摘要】 为了解决方向舵卡死引起无人机步入螺旋运动模态,进而可能尾旋坠机的问题,提出了仅通过设计副翼通道的控制律使无人机步出螺旋运动的新方法。首先从方向舵卡死产生的力及力矩的分析出发,得出方向舵卡死且在航向稳定性大于横向稳定性时无人机会步入螺旋运动,仿真结果证明了该结论的正确性。然后把卡死的方向舵产生的影响当作常值扰动,通过设计副翼通道的控制律,实现了无人机改出螺旋运动按指定的滚转角以及偏航角飞行的预期目的。最后通过仿真实验,验证了所设计控制律的可行性。更多还原

【Abstract】 An Unmanned Aerial Vehicle(UAV) may step into spiral motion,or even fall and break when rudder deadlock happens.To solve the problem,a new method was proposed to make the UAV step out the spiral motion by the design of an aileron channel control law only.Firstly,theoretical analysis of force and torque was made under rudder deadlock motion.And we got a conclusion that the UAV may step into spiral motion once the directional stability is larger the lateral stability when rudder deadlock happens.The correctness of the conclusion was verified by simulation results.Then,we took the effect of the rudder as constant disturbance,and designed a control law for the aileron,thus the UAV could step out the spiral motion and fly at the specified roll angle or yaw angle.In the end,the feasibility of the control law was verified by the experiments.更多还原