微共轴旋翼UAV增量控制系统设计与飞行试验
Incremental Control System Design and Flight Tests of a Micro-Coaxial Rotor UAV
摘要：
将增量式非线性动态逆方法应用于共轴式旋翼无人机的控制系统设计。在控制系统设计中解决了气动不确定性和抗干扰问题。所设计的控制器使无人机具有良好的飞行性能和控制鲁棒性。针对状态导数的时滞问题，提出了一种增量增益法。该方法具有计算量小、参数整定简单等优点，为将INDI控制器应用于共轴式旋翼无人机提供了极大的方便。利用离散系统稳定性分析方法论证了IGM的原理，并通过仿真详细分析了IGM的参数选择策略。通过非线性动态逆（NDI）和非线性动态逆（INDI）的对比飞行试验，验证了该控制器设计方法的优越性。实验结果表明，在相同风速下，INDI的平均轨迹跟踪误差仅为NDI的58.3%。当角加速度延迟小于0.06s时，IGM能很容易地保持系统稳定。此外，INDI在明显的模型误差和强输入干扰下具有较好的鲁棒性。
英文摘要：
In this paper, the incremental nonlinear dynamic inversion (INDI) method is applied to the control system design of coaxial rotor UAVs. The aerodynamic uncertainty and anti-disturbance problems are solved in the control system design. The designed controller gives the UAV excellent flight performance and control robustness. An incremental gain method (IGM) is proposed for the delay problem of the state derivative. This method has the advantages of less calculation load and simple parameter adjustment, which provides excellent convenience for applying INDI controllers to coaxial rotor UAVs. The principle of IGM is demonstrated by the stability analysis method of the discrete system, and the parameter selection strategy of the IGM is analyzed in detail by simulation. The advantages of the controller design method are verified by comparative flight tests of nonlinear dynamic inversion (NDI) and INDI. The experimental results show that the average trajectory tracking error of INDI is only 58.3% of that of NDI under the same wind speed. When the angular acceleration delay is less than 0.06 s, IGM can easily keep the system stable. In addition, INDI has better robustness under obvious model errors and strong input disturbance.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
