运动质量驱动同轴双旋翼无人机的建模与串级滑模控制

IF 1 4区工程技术 Q3 ENGINEERING, AEROSPACE

Proceedings of the Institution of Mechanical Engineers Part G-Journal of Aerospace Engineering Pub Date : 2023-08-18 DOI:10.1177/09544100231190604

Siling Wang, Sichen Ji, Zhou Yang, Hongyan Sun

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引用次数: 0

摘要

针对同轴双旋翼无人机旋翼部件过于复杂、使用寿命低、可靠性低等问题，提出了一种基于三轨迹运动质量控制机构的姿态控制方案。推导了运动质量驱动导管同轴双旋翼无人机的运动模型和气动模型。分析了不同滑块位置和质量比下运动质量驱动无人机(MAUAV)的旋转动力学特性。针对无人机旋转的非线性和不确定性，设计了一种基于反步滑模控制的姿态控制器。在此基础上，我们开发了一种采用串级滑模控制的位置控制器。仿真结果表明，所设计的姿态控制器在单位阶跃响应中稳定时间为1.438 s，在正弦姿态跟踪实验中稳态误差小于5%。此外，与基于线性二次型调节器控制的位置控制器相比，所设计的位置控制器在不同程度阵风扰动下具有更好的轨迹跟踪效果。

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The modeling and cascade sliding mode control of a moving mass-actuated coaxial dual-rotor UAV

In this study, an attitude control scheme based on a three-track moving mass control mechanism is proposed to address the problems of the overcomplicated rotor components, low service life, and low reliability of coaxial dual-rotor unmanned air vehicles (UAV). The motion and aerodynamic models of a moving mass-actuated ducted coaxial dual-rotor UAV are derived. The rotational dynamic characteristics of a moving mass-actuated UAV (MAUAV) with different slider positions and mass ratios are analyzed. An attitude controller based on backstepping sliding mode control is designed to address the nonlinearity and uncertainty of the MAUAV rotation. Based on this, we developed a position controller using cascade sliding mode control. The simulation results demonstrate that the designed attitude controller can achieve a settling time of 1.438 s in the unit-step response and a steady-state error of less than 5% in the sinusoidal attitude-tracking experiment. Additionally, the designed position controller exhibited a better trajectory-tracking effect under different levels of gust disturbance than that of a linear quadratic regulator control-based position controller.

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来源期刊

Proceedings of the Institution of Mechanical Engineers Part G-Journal of Aerospace Engineering 工程技术-工程：机械

CiteScore

2.40

自引率

18.20%

发文量

212

审稿时长

5.7 months

期刊介绍： The Journal of Aerospace Engineering is dedicated to the publication of high quality research in all branches of applied sciences and technology dealing with aircraft and spacecraft, and their support systems. "Our authorship is truly international and all efforts are made to ensure that each paper is presented in the best possible way and reaches a wide audience. "The Editorial Board is composed of recognized experts representing the technical communities of fifteen countries. The Board Members work in close cooperation with the editors, reviewers, and authors to achieve a consistent standard of well written and presented papers."Professor Rodrigo Martinez-Val, Universidad Politécnica de Madrid, Spain This journal is a member of the Committee on Publication Ethics (COPE).