飞翼无人机舵面控制分配技术

针对飞翼布局无人机各控制舵面之间耦合性强、实际舵机存在位置与转速约束等问题,提出一种基于效率分级的改进直接舵面分配策略。对各舵面进行操纵效率分级,针对每一级舵面提出一种改进的离散状态下的直接分配方法,并用实例对各舵面的操纵能力进行仿真分析。仿真结果表明:改进的直接分配法在舵面位置与转速2种约束同时存在的情况下,能提高分配的精度,抑制各通道的耦合现象。

Control Allocation for Effectors of Fly-Wing UAVs

This paper presents a control allocation method based on effectiveness classification using a modified way of direct allocation for the problems that the fly-wing configuration UAVs have strong control coupling, the actual actuator is simultaneously limited by position and rate of angular motion constraints. Carry out control effectiveness classification on every control surface. Aiming at every control surface, put forward direct allocation method based on modified discrete state. Then use example to carry out simulation analysis on control surface operation ability. The simulation results show that the modified direct allocation method can improve allocation precision and constrain coupling of every channel based on constrain of control surface position and rotating speed.