某型MAV飞控系统开发与飞行试验
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摘要
本文研究课题源于微型飞行器基础课题研究项目,针对某型MAV样机的研制,开展了MAV飞行控制及相关技术的研究。
本文的重点是飞行控制系统的控制律和控制软件设计,以及MAV的飞行试验。
本文首先概括了MAV的特点与应用,介绍了MAV的研究现状和最新进展并指出了MAV的发展趋势。
根据飞行力学和某型MAV的风洞数据建立了其运动学模型,在某个基准状态下,对MAV的非线性模型进行线性化,分析了其自身稳定性。介绍了MAV的飞行控制律,包括MAV姿态控制、速度控制、高度控制。考虑到线性模型的局限性,对非线性模型进行了仿真,并研究了气流扰动、时延对系统的影响。
设计了MAV的自主导航算法,并对算法进行了仿真。介绍了基于DSP的飞行控制软件的结构和各部分功能,详细介绍了各软件模块的流程。
最后,对数百架次的飞行试验作了经验总结,并介绍了在飞行试验中调试飞行控制参数和实现自主导航的过程。给出了部分飞行试验结果。
The thesis is derived from a basic research program.The research is about the flight control and relative technology for certain MAV.
This paper focus on the design of flight control system, including flight control law and flight control software, and flight test.
The paper firstly generalizes the character and application of MAV, then introduces the MAV’s advancement and developing trend.
The MAV’s non-linear model is build based on the wind tunnel test data. The linear model is developed on the MAV’s trim point. The flight control law, including attitude control, velocity control and height control is introduced. Because of the limitation of the linear simulation, the simulation based on the nonlinear model is also carried out. The disturbance of the airflow and the time delay for the MAV’s flight status imformation are researched among these simulations.
The navigation algorithm is designed in the paper, and the simulation is carried out.
The flight control software is introduced, focus on the structure and function. And, experience from hundreds times of flight test is summarized, and the progress of adjusting control parameter, the realiziation of autonomous navigation in flight test is introduced. Some flight test result is given at last.
本文的重点是飞行控制系统的控制律和控制软件设计,以及MAV的飞行试验。
本文首先概括了MAV的特点与应用,介绍了MAV的研究现状和最新进展并指出了MAV的发展趋势。
根据飞行力学和某型MAV的风洞数据建立了其运动学模型,在某个基准状态下,对MAV的非线性模型进行线性化,分析了其自身稳定性。介绍了MAV的飞行控制律,包括MAV姿态控制、速度控制、高度控制。考虑到线性模型的局限性,对非线性模型进行了仿真,并研究了气流扰动、时延对系统的影响。
设计了MAV的自主导航算法,并对算法进行了仿真。介绍了基于DSP的飞行控制软件的结构和各部分功能,详细介绍了各软件模块的流程。
最后,对数百架次的飞行试验作了经验总结,并介绍了在飞行试验中调试飞行控制参数和实现自主导航的过程。给出了部分飞行试验结果。
The thesis is derived from a basic research program.The research is about the flight control and relative technology for certain MAV.
This paper focus on the design of flight control system, including flight control law and flight control software, and flight test.
The paper firstly generalizes the character and application of MAV, then introduces the MAV’s advancement and developing trend.
The MAV’s non-linear model is build based on the wind tunnel test data. The linear model is developed on the MAV’s trim point. The flight control law, including attitude control, velocity control and height control is introduced. Because of the limitation of the linear simulation, the simulation based on the nonlinear model is also carried out. The disturbance of the airflow and the time delay for the MAV’s flight status imformation are researched among these simulations.
The navigation algorithm is designed in the paper, and the simulation is carried out.
The flight control software is introduced, focus on the structure and function. And, experience from hundreds times of flight test is summarized, and the progress of adjusting control parameter, the realiziation of autonomous navigation in flight test is introduced. Some flight test result is given at last.
引文
[1] 陈国栋,贾培发,刘艳,微型飞行器的研究与发展,机器人技术及应用,2006,(02):34～44
[2] 陈国栋,微型飞行器十年, 国外科技动态, 2005,(02): 29～33
[3] 昂海松,微型飞行器不同于无人机的概念与特点,无人机,2006,(06):18～21
[4] 李占科,宋笔锋,宋海龙,微型飞行器的研究现状及其关键技术,飞行力学,2003,21(4):1～4
[5] 袁哲俊,谢大纲,胡忠辉,微飞行器技术的最新发展,航空精密制造技术,2005,41(1):1～5
[6] 张为华,曾庆华,微型飞行器飞行控制问题研究进展,国防科技大学学报,2004,26(5):30～33
[7] 张明廉,飞行控制系统,北京,航空工业出版社,1994: 41～99
[8] 张志涌等,精通 Matlab6.5 版,北京,北京航空航天大学,2002: 234～284
[9] 肖业伦,航空航天器运动的建模——飞行动力学的理论基础,北京,北京航空航天大学出版社,2003:50～61
[10] 薛定宇,反馈控制系统设计与分析——MATLAB 语言应用,北京,清华大学出版社,2000:44～51
[11] 胡寿松,自动控制原理,北京,科学出版社,2001:219～265
[12] 刘金琨,先进 PID 控制 MATLAB 仿真,北京,电子工业出版社,2004:1～71
[13] 苏奎峰,吕强,耿庆锋等,TMS320F2812 原理与开发,北京,电子工业出版社,2005:1～18
[14] 梁秋憧,程维明,黄欣,GPS 自主导航原理、算法及应用[J],机床与液压,2003,(04):48～50
[15] 刘歌群,无人机飞行控制器设计及检测与控制技术研究[硕士学位论文],西安,西北工业大学,2004: 26～45
[16] Marius Niculescu,Lateral Track Control Law for Aerosonde UAV,39th AIAA Aerospace Sciences Meeting and Exhibit,Reno.NV,AIAA-2001-0016:1～12
[17] C.Nilsson, C.Hall Jr, S. Heinzen,etc.,GPS Auto-Navigation Design for Unmanned Air Vehicles, 40th Aerospace Sciences Meeting & Exhibit, RenoNevada,AIAA-2002-0389:1～10
[18] Ronald W.Davidson, Flight Control Design and Test of the Joint Unmanned Combat Air System (J-UCAS) X-45A, AIAA 3rd Unmanned Unlimited Technical Conference, Workshop and Exhibit, Chicago,2004:1～5
[19] Derek Kingston1, Randal Beard, Timothy McLain,etc.,Autonomous Vehicle Technologies for Small Fixed Wing UAVs,San Diego,AIAA-2003-6559:1～2
[20] Richard K. Arning,Stefan Sassen,Flight Contorl for Micro Aerial Vehicles,AIAA Guidance, Navigation, and Control Conference and Exhibit, Rhode Island,AIAA-2004-4911:1～10
[21] Huai-yu Wu; Zhao-ying Zhou; Dong Sun, Autonomous hovering control and test for micro air vehicle,IEEE International Conference on Robotics and Automation,Tsinghua Univ., Beijing, China,2003,vol.1: 528～533
[22] S. Winkler, M. Buschmann and T. Kordes, Application of Micro-Technology to Integrated,Navigation of Autonomous Micro Air Vehicles,CANEUS 2004--Conference on Micro-Nano-Technologies, Monterey, California, AIAA-2004-6725:1～10
[23] Waszak M. R.,Stability and Control Properties of an Aeroelastic Fixed Wing Micro Aerial Vehicle,AIAA-2001-4005:1～6
[24] John B. Davidson and Dominick Andrisani, Gain Weighted Eigenspace Assignment, National Aeronautics andSpace Administration Langley Research Center,Hampton, Virginia 23681-0001,1994:5～10
[25] Padula S. L., Raney D. L., Raney D. L.,Multidisciplinary Techniques and Novel Aircraft Control Systems, AIAA-2000-4848:1～4
[26] Joel M. Grasmeyer,Matthew T. Keennon,39th AIAA Aerospace Sciences Meeting & Exhibit,Reno, NV,AIAA-2001-0127:1～10
[27] J. F. M. Lorga, Q. P. Chu,Evaluating the Performance of an Integrated Navigation System,AIAA Guidance, Navigation, and Control Conference and Exhibit,San Francisco, California,AIAA-2005-6155:1～11
[28] J. D. McMinn and E. Bruce Jackson, Autoreturn Function for A Remotely Piloted Vehicle,Guidance,Navigation & Control Conference, Monterey California, AIAA-2002-4673:1～11
[29] Reed Siefert Christiansen,Design of An Autopilot for Small Unmaned Aerial Vehicles, [graduate thesis],Utah,Brigham Young University,2004
[30] Philip Woods,FLAVIIR-An Integrated Programme of Research for UAVs,3rd AIAA Flow Control Conference,San Francisco, California, AIAA-2006-3504:1～7
[31] TMS320F28x DSP System Control and Interrupts Reference Guide, Texas Instruments, July 2003
[32] TMS320C28x Optimizing C/C++ Compiler User’s Guide, Texas Instruments, August 2001
[33] TMS320x281x,280x DSP Serial Peripheral Interface(SPI) Reference Guide, Texas Instruments, June 2002 ? Revised November 2004
[34] TMS320C28x DSP CPU and Instruction Set Reference Guide,Texas Instruments, August 2001 ? Revised March 2004
[35] TMS320F28x DSP Analog-to-Digital Converter(ADC) Reference Guide, Texas Instruments, August 2001 ? Revised March 2004
[36] TMS320x281x DSP Multichannel Buffered Serial Port(McBSP) Reference Guide, Texas Instruments, May 2003 ? Revised November 2004
[37] TMS320x280x,281x DSP Serial Communication Interface(SCI) Reference Guide, Texas Instruments, June 2003
[38] 童友斌,胡延霖,苏永振,某小型无人机导航系统的设计,战术导弹技术,2004,(06): 52～54
[39] 严晞隽,高金源,屠巴宁,小型无人机水平导航控制研究,飞行力学,2000,18(04),24～27
[40] 姚俊,马松辉,Simulink建模与仿真,西安:西安电子科技大学出版社,2002:207～221
[41] 曹美文,基于DSP的MAV控制律设计与工程实现[硕士学位论文],南京:南京航空航天大学,2006
[42] 张德发,叶胜利,飞行控制系统的地面与飞行试验,北京:国防工业出版社,2003:5～10
[43] 巴施柯夫斯基,列奥诺夫,巴普拉夫斯基,飞机飞行试验及试验结果的处理,北京:航空工业出版社,1991:5～16
[2] 陈国栋,微型飞行器十年, 国外科技动态, 2005,(02): 29～33
[3] 昂海松,微型飞行器不同于无人机的概念与特点,无人机,2006,(06):18～21
[4] 李占科,宋笔锋,宋海龙,微型飞行器的研究现状及其关键技术,飞行力学,2003,21(4):1～4
[5] 袁哲俊,谢大纲,胡忠辉,微飞行器技术的最新发展,航空精密制造技术,2005,41(1):1～5
[6] 张为华,曾庆华,微型飞行器飞行控制问题研究进展,国防科技大学学报,2004,26(5):30～33
[7] 张明廉,飞行控制系统,北京,航空工业出版社,1994: 41～99
[8] 张志涌等,精通 Matlab6.5 版,北京,北京航空航天大学,2002: 234～284
[9] 肖业伦,航空航天器运动的建模——飞行动力学的理论基础,北京,北京航空航天大学出版社,2003:50～61
[10] 薛定宇,反馈控制系统设计与分析——MATLAB 语言应用,北京,清华大学出版社,2000:44～51
[11] 胡寿松,自动控制原理,北京,科学出版社,2001:219～265
[12] 刘金琨,先进 PID 控制 MATLAB 仿真,北京,电子工业出版社,2004:1～71
[13] 苏奎峰,吕强,耿庆锋等,TMS320F2812 原理与开发,北京,电子工业出版社,2005:1～18
[14] 梁秋憧,程维明,黄欣,GPS 自主导航原理、算法及应用[J],机床与液压,2003,(04):48～50
[15] 刘歌群,无人机飞行控制器设计及检测与控制技术研究[硕士学位论文],西安,西北工业大学,2004: 26～45
[16] Marius Niculescu,Lateral Track Control Law for Aerosonde UAV,39th AIAA Aerospace Sciences Meeting and Exhibit,Reno.NV,AIAA-2001-0016:1～12
[17] C.Nilsson, C.Hall Jr, S. Heinzen,etc.,GPS Auto-Navigation Design for Unmanned Air Vehicles, 40th Aerospace Sciences Meeting & Exhibit, RenoNevada,AIAA-2002-0389:1～10
[18] Ronald W.Davidson, Flight Control Design and Test of the Joint Unmanned Combat Air System (J-UCAS) X-45A, AIAA 3rd Unmanned Unlimited Technical Conference, Workshop and Exhibit, Chicago,2004:1～5
[19] Derek Kingston1, Randal Beard, Timothy McLain,etc.,Autonomous Vehicle Technologies for Small Fixed Wing UAVs,San Diego,AIAA-2003-6559:1～2
[20] Richard K. Arning,Stefan Sassen,Flight Contorl for Micro Aerial Vehicles,AIAA Guidance, Navigation, and Control Conference and Exhibit, Rhode Island,AIAA-2004-4911:1～10
[21] Huai-yu Wu; Zhao-ying Zhou; Dong Sun, Autonomous hovering control and test for micro air vehicle,IEEE International Conference on Robotics and Automation,Tsinghua Univ., Beijing, China,2003,vol.1: 528～533
[22] S. Winkler, M. Buschmann and T. Kordes, Application of Micro-Technology to Integrated,Navigation of Autonomous Micro Air Vehicles,CANEUS 2004--Conference on Micro-Nano-Technologies, Monterey, California, AIAA-2004-6725:1～10
[23] Waszak M. R.,Stability and Control Properties of an Aeroelastic Fixed Wing Micro Aerial Vehicle,AIAA-2001-4005:1～6
[24] John B. Davidson and Dominick Andrisani, Gain Weighted Eigenspace Assignment, National Aeronautics andSpace Administration Langley Research Center,Hampton, Virginia 23681-0001,1994:5～10
[25] Padula S. L., Raney D. L., Raney D. L.,Multidisciplinary Techniques and Novel Aircraft Control Systems, AIAA-2000-4848:1～4
[26] Joel M. Grasmeyer,Matthew T. Keennon,39th AIAA Aerospace Sciences Meeting & Exhibit,Reno, NV,AIAA-2001-0127:1～10
[27] J. F. M. Lorga, Q. P. Chu,Evaluating the Performance of an Integrated Navigation System,AIAA Guidance, Navigation, and Control Conference and Exhibit,San Francisco, California,AIAA-2005-6155:1～11
[28] J. D. McMinn and E. Bruce Jackson, Autoreturn Function for A Remotely Piloted Vehicle,Guidance,Navigation & Control Conference, Monterey California, AIAA-2002-4673:1～11
[29] Reed Siefert Christiansen,Design of An Autopilot for Small Unmaned Aerial Vehicles, [graduate thesis],Utah,Brigham Young University,2004
[30] Philip Woods,FLAVIIR-An Integrated Programme of Research for UAVs,3rd AIAA Flow Control Conference,San Francisco, California, AIAA-2006-3504:1～7
[31] TMS320F28x DSP System Control and Interrupts Reference Guide, Texas Instruments, July 2003
[32] TMS320C28x Optimizing C/C++ Compiler User’s Guide, Texas Instruments, August 2001
[33] TMS320x281x,280x DSP Serial Peripheral Interface(SPI) Reference Guide, Texas Instruments, June 2002 ? Revised November 2004
[34] TMS320C28x DSP CPU and Instruction Set Reference Guide,Texas Instruments, August 2001 ? Revised March 2004
[35] TMS320F28x DSP Analog-to-Digital Converter(ADC) Reference Guide, Texas Instruments, August 2001 ? Revised March 2004
[36] TMS320x281x DSP Multichannel Buffered Serial Port(McBSP) Reference Guide, Texas Instruments, May 2003 ? Revised November 2004
[37] TMS320x280x,281x DSP Serial Communication Interface(SCI) Reference Guide, Texas Instruments, June 2003
[38] 童友斌,胡延霖,苏永振,某小型无人机导航系统的设计,战术导弹技术,2004,(06): 52～54
[39] 严晞隽,高金源,屠巴宁,小型无人机水平导航控制研究,飞行力学,2000,18(04),24～27
[40] 姚俊,马松辉,Simulink建模与仿真,西安:西安电子科技大学出版社,2002:207～221
[41] 曹美文,基于DSP的MAV控制律设计与工程实现[硕士学位论文],南京:南京航空航天大学,2006
[42] 张德发,叶胜利,飞行控制系统的地面与飞行试验,北京:国防工业出版社,2003:5～10
[43] 巴施柯夫斯基,列奥诺夫,巴普拉夫斯基,飞机飞行试验及试验结果的处理,北京:航空工业出版社,1991:5～16