基于自适应的变形式陆空机器人转域过程飞行控制

doi:10.7527/S1000-6893.2018.22691

电子电气工程与控制

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基于自适应的变形式陆空机器人转域过程飞行控制

冯宜明, 王建中, 施家栋

北京理工大学爆炸科学与技术国家重点实验室, 北京 100081

收稿日期:2018-09-19 修回日期:2018-10-12 出版日期:2019-06-15 发布日期:2018-12-19
通讯作者: 王建中 E-mail:2120160194@bit.edu.cn
基金资助:
陆军装备预研项目（30106020104）

Area transfer flight control of metamorphic air-land amphibious vehicles based on adaptive control

FENG Yiming, WANG Jianzhong, SHI Jiadong

State Key Laboratory of Explosion Science and Technology, Beijing Institute of Technology, Beijing 100081, China

Received:2018-09-19 Revised:2018-10-12 Online:2019-06-15 Published:2018-12-19
Supported by:
Army Equipment Preresearch Project(30106020104)

摘要/Abstract

摘要： 针对一种变形式四旋翼陆空两栖机器人，研究空陆转域飞行控制方法，为实现陆空机器人从空中到地面的连续机动奠定了基础。建立了等效于变形式四旋翼陆空两栖机器人的飞行及转域系统结构模型和动力学模型，针对转域变形过程中转动惯量的改变及复杂飞行环境中负载变化和机体质量受损问题，在设计了基于线性二次型调节器（LQR）算法的姿态控制器和基于比例-积分-微分（PID）算法的高度控制器基础上，设计加入模型参考自适应系统（MRACS）解决模型参数不确定性问题。利用Adams/MATLAB联合仿真，首先得到空陆转域变形角度的极限值，然后对比仿真有无自适应补偿器的控制效果验证了该控制方法的高效性。研制了转域飞行样机，对空陆转域变形角度极限值和飞行控制方法进行了试验验证。

关键词: 陆空机器人, 转域变形, 飞行控制, 自适应控制, 联合仿真

Abstract: The flight control method for the air-land transfer in a new metamorphic air-land amphibious vehicles is studied, laying the foundation for the continuous maneuver from air to land for air-land amphibious vehicles. Structural model and dynamic model, which are equivalent to the metamorphic air-land amphibious vehicles, are built. To solve the variations of the moment of inertia and the load in the area transfer and the complex environment, Model Reference Adaptive Control System (MRACS) is applied to compensate the uncertainty of the model based on Linear Quadratic Regulaton (LQR) attitude controller and PID height controller. The extreme value of air-land transfer deformation angle is obtained and the effectiveness of this control strategy is verified by using the Adams/MATLAB co-simulation. The transfer flight prototype is developed and experiments are carried out to test its control method and the extreme value.

Key words: air-land amphibious vehicles, area transfer metamorphic, flight control, adaptive control, co-simulation

中图分类号:

V212.4

冯宜明, 王建中, 施家栋. 基于自适应的变形式陆空机器人转域过程飞行控制[J]. 航空学报, 2019, 40(6): 322691-322691.

FENG Yiming, WANG Jianzhong, SHI Jiadong. Area transfer flight control of metamorphic air-land amphibious vehicles based on adaptive control[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2019, 40(6): 322691-322691.

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E-mail：hkxb@buaa.edu.cn

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基于自适应的变形式陆空机器人转域过程飞行控制

Area transfer flight control of metamorphic air-land amphibious vehicles based on adaptive control

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