涵道风扇式无人机的优先级控制分配

doi:10.7527/S1000-6893.2020.24017

电子电气工程与控制

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涵道风扇式无人机的优先级控制分配

蒙超恒^1,2, 裴海龙^1,2, 程子欢^1,2

1. 华南理工大学自主系统与网络控制教育部重点实验室, 广州 510640;
2. 华南理工大学广东省无人机系统工程技术研究中心, 广州 510640

收稿日期:2020-03-26 修回日期:2020-05-21 发布日期:2020-05-21
通讯作者: 裴海龙 E-mail:auhlpei@scut.edu.cn
基金资助:
国家自然科学基金重大科研仪器研制项目（615278010）；广东省省级科技计划项目（2017B010116005）

Prioritized control allocation for ducted fan UAVs

MENG Chaoheng^1,2, PEI Hailong^1,2, CHENG Zihuan^1,2

1. Key Laboratory of Autonomous Systems and Networked Control, South China University of Technology, Guangzhou 510640, China;
2. Unmanned Aerial Vehicle Systems Engineering Technology Research Center of Guangdong, South China University of Technology, Guangzhou 510640, China

Received:2020-03-26 Revised:2020-05-21 Published:2020-05-21
Supported by:
Scientific Instruments Development Program of NSFC (615278010); Science and Technology Planning Project of Guangdong, China (2017B010116005)

摘要/Abstract

摘要： 涵道风扇式无人机是一种冗余配置操纵面的飞行器，其控制分配问题通常使用伪逆法求解，然而伪逆法不能对任意可达的期望力矩都返回容许控制，使冗余的操纵面牺牲了部分控制能力。提出一种优先级控制分配方法，该方法先对期望力矩进行矢量分解并划分优先级，再求解约束最优化问题得到容许控制。相比于伪逆法，所提出的方法可对更大范围的期望力矩返回容许控制，而且当期望力矩不可达时，可以防止系统因执行器饱和而产生输出耦合。将所提出的方法应用到涵道风扇式无人机的控制分配中，仿真及飞行试验验证了该方法的有效性。

关键词: 涵道风扇式无人机, 过驱动系统, 控制分配, 优先级分配, 线性规划

Abstract: Ducted fan UAVs, aircraft with redundant control surfaces, usually solve the control allocation problem via the pseudo-inverse method. However, this method cannot return admissible control for all the moments in the Attainable Moment Set (AMS), therefore sacrificing partial control ability of redundant control surfaces. To solve this problem, this paper proposes a prioritized control allocation method, which first decomposes the desired moments into a sequence of prioritized partitions, followed by solution of the constrained optimization problem to obtain admissible control. Compared with the pseudo-inverse method, the proposed method can return admissible control for a larger range of desired moments. In addition, when the desired moments are unattainable, it can prevent the system from output coupling caused by actuator saturation. The proposed method is applied to the control allocation of ducted fan UAVs. Simulation and experiments verify the effectiveness of the method.

Key words: ducted fan UAVs, overactuated systems, control allocation, prioritized allocation, linear programming

中图分类号:

V249.1

蒙超恒, 裴海龙, 程子欢. 涵道风扇式无人机的优先级控制分配[J]. 航空学报, 2020, 41(10): 324017-324017.

MENG Chaoheng, PEI Hailong, CHENG Zihuan. Prioritized control allocation for ducted fan UAVs[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2020, 41(10): 324017-324017.

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主管单位：中国科学技术协会主办单位：中国航空学会北京航空航天大学

涵道风扇式无人机的优先级控制分配

Prioritized control allocation for ducted fan UAVs

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