导航

ACTA AERONAUTICAET ASTRONAUTICA SINICA ›› 2020, Vol. 41 ›› Issue (4): 323534-323534.doi: 10.7527/S1000-6893.2019.23534

• Electronics and Electrical Engineering and Control • Previous Articles     Next Articles

Incremental nonlinear dynamic inversion control and flight test based on angular acceleration estimation

DANG Xiaowei1, TANG Peng2, SUN Hongqiang2, ZHENG Chen1   

  1. 1. School of Energy and Power Engineering, Beihang University, Beijing 100083, China;
    2. School of Transportations Science and Engineering, Beihang University, Beijing 100083, China
  • Received:2019-09-29 Revised:2020-01-10 Online:2020-04-15 Published:2020-01-10

Abstract: The Incremental Nonlinear Dynamic Inversion (INDI) control law requires estimation of state derivative (angular acceleration) for real-time feedback and exists time delay caused by angular acceleration estimation, This paper proposes research and practical engineering solutions to the above problems. The dynamic model of the flight test Unmanned Aerial Vehicle (UAV) platform was established. The incremental nonlinear dynamic inversion control law and the controller layered design method were used to design the UAV attitude control system. Using Kalman filter, the angular acceleration estimator is designed to provide real-time feedback of angular acceleration for the control law. The control law is implemented by a model-based control system design method, and the actual flight test is performed. The test results show that the control method is achievable in engineering and show good robustness and command tracking capability.

Key words: flight control, incremental nonlinear dynamic inversion, angular acceleration estimation, Kalman filter, model-based design

CLC Number: