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跟踪微分器与增量非线性动态逆相结合的飞翼无人机宽工况姿态控制研究

陈清阳1,贾政敏1,鲁亚飞2,王玉杰3,王鹏2   

  1. 1. 国防科学技术大学空天科学学院
    2. 国防科技大学
    3. 中国人民解放军国防科技大学
  • 收稿日期:2025-11-20 修回日期:2026-03-08 出版日期:2026-03-16 发布日期:2026-03-16
  • 通讯作者: 鲁亚飞
  • 基金资助:
    湖南省自然科学基金项目

Research on Attitude Control Under Wide-Envelope for Flying-Wing UAVs Combining Tracking Differentiator and Incremental Nonlinear Dynamic In-version

  • Received:2025-11-20 Revised:2026-03-08 Online:2026-03-16 Published:2026-03-16
  • Contact: Ya-Fei LU

摘要: 为了满足飞翼无人机完成飞行任务完整剖面的使用需求,宽工况条件下的姿态自主可靠控制具有重要的决定性作用,如何克服飞翼无人机自身的纵向操纵能力不足、航向稳定性弱,以及宽工况条件下的强非线性特性、外界扰动等多因素的综合影响,实现精确稳定控制,是一个重要的难点问题。本文围绕宽工况条件下的飞翼无人机姿态自主可靠控制问题进行研究,首先,为了克服飞行器强非线性特征以及模型偏差的影响,设计了基于增量非线性动态逆(Incremental Nonlin-ear Dynamic Inversion,INDI)的姿态控制方法,并结合飞行器协调转弯的动力学特性,实现了伪指令的合理计算。基于所提出的方法,论文中开展了纵向、横航向通道以及侧风扰动等情况下的充分仿真测试,验证了所提出方法的有效性与不足;其次,针对INDI中的微分计算问题,设计了基于跟踪微分器(Tracking Differentiator, TD)的伪指令优化方法;最后,开展了INDI与TD相结合的姿态控制器的仿真实验与实际的飞行试验,验证了所设计方法的优势与可行性。

关键词: 飞翼无人机, 姿态控制, 宽工况, 增量非线性动态逆, 跟踪微分器

Abstract: To meet the requirements of a complete flight mission profile for the flying-wing UAVs, autonomous and reliable atti-tude control under wide flying envelope plays a crucial role. How to overcome the influence of flying-wing UAV's insuf-ficient longitudinal maneuverability, weak directional stability, as well as the combined effects of strong nonlinearity under wide operating conditions and external disturbances, to achieve precise and stable control, is a significant chal-lenge. This paper focuses on the study of autonomous and reliable attitude control of flying-wing UAVs under wide flying envelope. Firstly, to overcome the effects of strong nonlinearity and model deviations of the aircraft, an INDI-based attitude control method is designed. Combined with the dynamical characteristics of coordinated turns for vehi-cles, reasonable calculation of pseudo commands is achieved. Based on the proposed method, extensive simulation tests for longitudinal, lateral-direction channels and crosswind disturbances environments were carried out, to verify the effectiveness and limitations of the method. Secondly, to address the differential calculation problem in INDI, a TD-based pseudo-command optimization method was designed. Finally, simulation and actual flight experiments of the attitude controller based on combining INDI and TD were conducted, and the advantages of the designed method were validated through tests in noise environments.

Key words: flying-wing UAVs, attitude control, wide envelope, incremental nonlinear dynamic inversion, tracking differentiator

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