【摘要】 小型飞行器由于外形尺寸等限制很难实现理想的姿态控制,而自然界中的鸟类却可以完成高质量的飞行,原因是它们能够获得自身周围的气流信息。受这些自然现象的启发,设计了一个基于流场感知的小型飞行器姿态控制系统。通过流场感知的气流信息(压力和剪应力)可以计算出气动力和力矩。建立了一种小型飞行器的非线性三轴姿态动力学模型,将力矩信息引入姿态运动,然后利用非线性模型预测控制来设计姿态控制器。与传统的控制方法相比,这种新型控制方法不需要从气动实验获得的先验信息,所用的参数都是由在线测量得到的数据计算得出的,因此能及时感知外界环境变化并减少响应时间。仿真结果表明,该控制方法可以提高小型飞行器在复杂流场环境下姿态控制系统的性能。更多还原

【Abstract】 It is difficult to achieve ideal attitude control of small aircrafts due to limitations in form factor, etc., while birds in nature can achieve high-quality flight because they can obtain information regarding the airflow around them. Inspired by these natural phenomena, we design a small aircraft attitude control system based on flow field perception. The aerodynamic forces and moments can be calculated with the flow information(pressure and shear stress) sensed by the flow field. In this paper, a nonlinear triaxial attitude dynamics model is proposed to introduce the moment information into the attitude motion, and then the nonlinear model predictive control is used to design the attitude controller. Compared with traditional control methods, this new control method does not require the aerodynamic data obtained from known experiments. The parameters are calculated from the data measured online so that it can detect and respond to changes in the external environment in time. The simulation results show that the proposed control method can improve the performance of the attitude control system in complex flow field environment.更多还原