微型飞行器非线性飞行动力学与智能控制研究
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摘要
近年来,在不断增长的应用前景刺激之下,微型飞行器正逐步成为一个国际性的研究热点。MAV在低雷诺数条件下具有的非线性飞行动力学特性、外界非定常大气扰动、系统内的微型化和测量精度等因素,使得MAV自主飞行控制成为一个有别于常规无人机控制的复杂问题。
MAV的自主飞行问题,实际上就是对一个非线性、非定常以及参数不确定性复杂系统的控制问题。针对MAV自主飞行系统的要求,本文着重于构建一个包括对象特性分析与控制方法研究在内的一体化研究体系。从固定翼MAV的特殊总体布局设计、低雷诺数气动分析、非线性飞行动力学特性分析以及非定常大气扰动影响研究出发,构建相应的智能导航与控制系统,以实现MAV自主飞行。本文的研究工作主要包括以下内容:
(1)构建基于总体构型设计与气动特性研究的具有自主飞行能力MAV系统设计框架。
针对MAV飞行的特点,确定了以MAV特殊总体构型设计、低雷诺数气动特性与非线性动力学特性研究为基础,结合非定常大气扰动对MAV飞行的影响分析,以MAV组合导航技术、智能飞行控制策略为关键技术的一体化研究构架,构建相应的MAV智能自主飞行系统,并将MAV飞行仿真技术与飞行试验贯穿于MAV研究始终。
(2)低雷诺数条件下的MAV非线性飞行动力学特性分析
提出了一个MAV特殊总体布局设计方案,开展固定翼MAV低雷诺数风洞试验,结合MAV飞行试验数据辨识,研究固定翼MAV低雷诺数空气动力学模型;提出了一种针对飞翼式固定翼MAV的动阻尼导数计算方法;建立了考虑螺旋桨滑流作用的MAV飞行动力学方程。提出了一种基于MAV全自由度动力学模型的飞行动力学特性全状态分析方法,研究了MAV在这个飞行包线内的飞行动力学特性非线性变化规律。
(3)非定常大气扰动下的MAV飞行力学特性研究
通过研究各类大气扰动现象的产生机理与表现特征,结合MAV飞行的特点,确定了对MAV飞行具有突出影响的几类典型大气扰动模型;研究了典型特征参数在风场模型中的作用,建立适合MAV飞行仿真的非定常大气扰动风场模型;研究非定常扰动对MAV飞行特性的影响,建立了考虑非定常大气扰动影响的MAV飞行动力学模型。
(4)基于多传感器技术的MAV组合导航技术研究
提出了一种基于组合传感器技术的MAV分层次导航系统方案。引入四元数结构下的捷联惯导与GPS组合信息卡尔曼姿态滤波方案。在姿态测量的基础上,提出了一种基于多传感器智能组合技术的MAV导航位置信息优化提取方案。
(5)MAV自主飞行智能控制策略研究及稳定性分析
建立了以MAV各个方向姿态稳定为基础,MAV全局轨迹导航为目标的分层次自主飞行系统设计方案。在MAV非线性飞行动力学特性研究以及实际飞行数据分析的基础上,研究了MAV自主飞行各子系统控制中可变控制参数集合的模糊超曲面,保证了特定状态范围内MAV姿态、高度以及航迹等各个子控制系统的稳定工作;引入专家控制思想,将MAV遥控飞行人员的领域知识以及经验技巧引入到整个系统的全局仲裁机构,对系统进行整体的协调与优化,实现了MAV全局稳定自主飞行控制;针对该类智能自主飞行控制系统的特点,提出基于Lyapunov理论的MAV自主飞行系统稳定性分析。
(6)MAV自主飞行仿真平台与飞行试验技术研究
确定MAV自主飞行数学仿真平台构成,研究各分系统的数学建模技术,分析MAV系统内误差的类型与建模技术,建立真实有效的MAV自主飞行控制三维动态数学仿真平台;分析了飞行试验在MAV自主飞行设计中的重要性,研究了MAV飞行试验中的关键技术;开展大量飞行试验,对MAV自主飞行控制设计提供必要的辅助与有效性验证。
Recently, under the stimulation of the increasing application prospect, MAV has become into an international hot topic. The non-linear flight dynamic characteristics under the condition of low Reynolds number, unsteady disturbed atmosphere, the measurement precision and reliability inside the micro system, etc make the autonomous flight control of MAV become a complicated issue which is different from the control of normal unmanned air vehicles.
Actually the issue of the MAV’s autonomous flight is a control problem on a non-linear, unsteady and uncertain parameters’complicated system. Aiming to the requirements of MAV autonomous flight system, this thesis focuses on building an integrative research system including the object feature analysis and control methods research. From the special general distribution design of the fixed-wing MAV, low Reynolds number analysis, non-linear dynamic characteristics analysis and research of the influence of the unsteady disturbed atmosphere, an intelligent navigation and control system is established, in order to realize the autonomous flight of the MAV. This thesis mainly includes the following contents:
(1) Development of a system design framework of MAV with the autonomous flight capability based on general configuration design and aerodynamic characteristics research.
Aiming to the flight features of MAV, based on the special general configuration design of MAV, and the research of aerodynamic characteristics and non-linear dynamic characteristics under low Reynolds number, combined the influence analysis of unsteady atmosphere disturbance to MAV flight, a integrated research framework is established, which applies the combined navigation technologies and intelligent flight control strategies of MAV as the key technologies, in order to build an intelligent autonomous flight system. Furthermore, the flight simulation and flight experiments are through the whole research.
(2) Analysis on non-linear flight dynamic characteristics of MAV under low Reynolds number
This thesis proposes a special general distribution design scheme, developing the wind tunnel experiments of fixed-wing MAV under low Reynolds number, combining the MAV flight experimental data identification, studying the aerodynamics model of fixed-wing MAV under low Reynolds number. This thesis proposes a dynamic damping derivative computation method for fixed-wing MAV, building the flight dynamics equations of MAV under the influence of propeller slipstream. An all-state flight dynamic characteristics analysis method based on the MAV dynamic model with all degrees of freedom has been proposed, to study the dynamic characteristics non-linear variation principle in the flight envelope of the MAV.
(3) Research on MAV flight mechanics characteristics under the unsteady disturbed atmosphere
Through studying generation mechanism and expression features of all kinds of atmospheric disturbance phenomena, integrating the flight features of the MAV, several typical atmosphere disturbance models which have the outstanding influence to MAV flight have been confirmed. This thesis studies the influence of typical characteristics parameters in the wind field model, building the unsteady atmosphere disturbance wind field model which is suitable for MAV flight simulation, studying the influence of the unsteady disturbance to MAV flight characteristics, and building a MAV flight dynamics model in which the unsteady atmosphere disturbance is considered.
(4) Research on the combined navigation technologies of MAV based on the multi-sensor technology
This thesis proposes a hierarchical navigation system scheme for MAV based on combined sensor technology. A Kalman attitude filter scheme to the combined information of INS and GPS under the quaternion structure is presented. Based on the attitude estimation, an optimized extraction scheme of MAV navigation location information has been proposed based on the multi-sensor intelligent combination technology.
(5) Research on the intelligent control strategies of MAV autonomous flight and stability analysis
For the aim of MAV whole track navigation, this thesis builds a hierarchical autonomous flight system design scheme based on the attitude stability in all directions of the MAV. Based on the research of MAV non-linear flight dynamic characteristics and the analysis of the factual flight data, this thesis studies the fuzzy hypersurface of the variable control parameter sets in each sub-system control of MAV autonomous flight, ensuring the operation stability of each sub-system in control in a particular state range, such as attitude, height and navigation track of MAV. This thesis applies the expert control ideas, introducing the regional knowledge, experience and techniques of the remote control flight staffs into the global arbitration organization of the whole system, which makes the system harmonized and optimized as a whole so as to realize the autonomous flight control of MAV in global stability. Aiming to the characteristics of this kind of intelligent autonomous flight control, a stability analysis of MAV autonomous flight system based on Lyapunov theory has been proposed.
(6) Research on the simulation platform of MAV autonomous flight and flight experiments
Determining the configuration of mathematical simulation platform of MAV autonomous flight, studying mathematics modeling techniques of each sub-system, analyzing the error types and modeling techniques inside the MAV system, building a real and effective 3D dynamic mathematical simulation platform of MAV autonomous flight control, analyzing the importance of the flight experiments in the design of MAV autonomous flight and studying the key technologies in MAV flight experiments, developing plentiful flight experiments to provide the necessary assistance or validation check for the design of MAV autonomous flight control.
MAV的自主飞行问题,实际上就是对一个非线性、非定常以及参数不确定性复杂系统的控制问题。针对MAV自主飞行系统的要求,本文着重于构建一个包括对象特性分析与控制方法研究在内的一体化研究体系。从固定翼MAV的特殊总体布局设计、低雷诺数气动分析、非线性飞行动力学特性分析以及非定常大气扰动影响研究出发,构建相应的智能导航与控制系统,以实现MAV自主飞行。本文的研究工作主要包括以下内容:
(1)构建基于总体构型设计与气动特性研究的具有自主飞行能力MAV系统设计框架。
针对MAV飞行的特点,确定了以MAV特殊总体构型设计、低雷诺数气动特性与非线性动力学特性研究为基础,结合非定常大气扰动对MAV飞行的影响分析,以MAV组合导航技术、智能飞行控制策略为关键技术的一体化研究构架,构建相应的MAV智能自主飞行系统,并将MAV飞行仿真技术与飞行试验贯穿于MAV研究始终。
(2)低雷诺数条件下的MAV非线性飞行动力学特性分析
提出了一个MAV特殊总体布局设计方案,开展固定翼MAV低雷诺数风洞试验,结合MAV飞行试验数据辨识,研究固定翼MAV低雷诺数空气动力学模型;提出了一种针对飞翼式固定翼MAV的动阻尼导数计算方法;建立了考虑螺旋桨滑流作用的MAV飞行动力学方程。提出了一种基于MAV全自由度动力学模型的飞行动力学特性全状态分析方法,研究了MAV在这个飞行包线内的飞行动力学特性非线性变化规律。
(3)非定常大气扰动下的MAV飞行力学特性研究
通过研究各类大气扰动现象的产生机理与表现特征,结合MAV飞行的特点,确定了对MAV飞行具有突出影响的几类典型大气扰动模型;研究了典型特征参数在风场模型中的作用,建立适合MAV飞行仿真的非定常大气扰动风场模型;研究非定常扰动对MAV飞行特性的影响,建立了考虑非定常大气扰动影响的MAV飞行动力学模型。
(4)基于多传感器技术的MAV组合导航技术研究
提出了一种基于组合传感器技术的MAV分层次导航系统方案。引入四元数结构下的捷联惯导与GPS组合信息卡尔曼姿态滤波方案。在姿态测量的基础上,提出了一种基于多传感器智能组合技术的MAV导航位置信息优化提取方案。
(5)MAV自主飞行智能控制策略研究及稳定性分析
建立了以MAV各个方向姿态稳定为基础,MAV全局轨迹导航为目标的分层次自主飞行系统设计方案。在MAV非线性飞行动力学特性研究以及实际飞行数据分析的基础上,研究了MAV自主飞行各子系统控制中可变控制参数集合的模糊超曲面,保证了特定状态范围内MAV姿态、高度以及航迹等各个子控制系统的稳定工作;引入专家控制思想,将MAV遥控飞行人员的领域知识以及经验技巧引入到整个系统的全局仲裁机构,对系统进行整体的协调与优化,实现了MAV全局稳定自主飞行控制;针对该类智能自主飞行控制系统的特点,提出基于Lyapunov理论的MAV自主飞行系统稳定性分析。
(6)MAV自主飞行仿真平台与飞行试验技术研究
确定MAV自主飞行数学仿真平台构成,研究各分系统的数学建模技术,分析MAV系统内误差的类型与建模技术,建立真实有效的MAV自主飞行控制三维动态数学仿真平台;分析了飞行试验在MAV自主飞行设计中的重要性,研究了MAV飞行试验中的关键技术;开展大量飞行试验,对MAV自主飞行控制设计提供必要的辅助与有效性验证。
Recently, under the stimulation of the increasing application prospect, MAV has become into an international hot topic. The non-linear flight dynamic characteristics under the condition of low Reynolds number, unsteady disturbed atmosphere, the measurement precision and reliability inside the micro system, etc make the autonomous flight control of MAV become a complicated issue which is different from the control of normal unmanned air vehicles.
Actually the issue of the MAV’s autonomous flight is a control problem on a non-linear, unsteady and uncertain parameters’complicated system. Aiming to the requirements of MAV autonomous flight system, this thesis focuses on building an integrative research system including the object feature analysis and control methods research. From the special general distribution design of the fixed-wing MAV, low Reynolds number analysis, non-linear dynamic characteristics analysis and research of the influence of the unsteady disturbed atmosphere, an intelligent navigation and control system is established, in order to realize the autonomous flight of the MAV. This thesis mainly includes the following contents:
(1) Development of a system design framework of MAV with the autonomous flight capability based on general configuration design and aerodynamic characteristics research.
Aiming to the flight features of MAV, based on the special general configuration design of MAV, and the research of aerodynamic characteristics and non-linear dynamic characteristics under low Reynolds number, combined the influence analysis of unsteady atmosphere disturbance to MAV flight, a integrated research framework is established, which applies the combined navigation technologies and intelligent flight control strategies of MAV as the key technologies, in order to build an intelligent autonomous flight system. Furthermore, the flight simulation and flight experiments are through the whole research.
(2) Analysis on non-linear flight dynamic characteristics of MAV under low Reynolds number
This thesis proposes a special general distribution design scheme, developing the wind tunnel experiments of fixed-wing MAV under low Reynolds number, combining the MAV flight experimental data identification, studying the aerodynamics model of fixed-wing MAV under low Reynolds number. This thesis proposes a dynamic damping derivative computation method for fixed-wing MAV, building the flight dynamics equations of MAV under the influence of propeller slipstream. An all-state flight dynamic characteristics analysis method based on the MAV dynamic model with all degrees of freedom has been proposed, to study the dynamic characteristics non-linear variation principle in the flight envelope of the MAV.
(3) Research on MAV flight mechanics characteristics under the unsteady disturbed atmosphere
Through studying generation mechanism and expression features of all kinds of atmospheric disturbance phenomena, integrating the flight features of the MAV, several typical atmosphere disturbance models which have the outstanding influence to MAV flight have been confirmed. This thesis studies the influence of typical characteristics parameters in the wind field model, building the unsteady atmosphere disturbance wind field model which is suitable for MAV flight simulation, studying the influence of the unsteady disturbance to MAV flight characteristics, and building a MAV flight dynamics model in which the unsteady atmosphere disturbance is considered.
(4) Research on the combined navigation technologies of MAV based on the multi-sensor technology
This thesis proposes a hierarchical navigation system scheme for MAV based on combined sensor technology. A Kalman attitude filter scheme to the combined information of INS and GPS under the quaternion structure is presented. Based on the attitude estimation, an optimized extraction scheme of MAV navigation location information has been proposed based on the multi-sensor intelligent combination technology.
(5) Research on the intelligent control strategies of MAV autonomous flight and stability analysis
For the aim of MAV whole track navigation, this thesis builds a hierarchical autonomous flight system design scheme based on the attitude stability in all directions of the MAV. Based on the research of MAV non-linear flight dynamic characteristics and the analysis of the factual flight data, this thesis studies the fuzzy hypersurface of the variable control parameter sets in each sub-system control of MAV autonomous flight, ensuring the operation stability of each sub-system in control in a particular state range, such as attitude, height and navigation track of MAV. This thesis applies the expert control ideas, introducing the regional knowledge, experience and techniques of the remote control flight staffs into the global arbitration organization of the whole system, which makes the system harmonized and optimized as a whole so as to realize the autonomous flight control of MAV in global stability. Aiming to the characteristics of this kind of intelligent autonomous flight control, a stability analysis of MAV autonomous flight system based on Lyapunov theory has been proposed.
(6) Research on the simulation platform of MAV autonomous flight and flight experiments
Determining the configuration of mathematical simulation platform of MAV autonomous flight, studying mathematics modeling techniques of each sub-system, analyzing the error types and modeling techniques inside the MAV system, building a real and effective 3D dynamic mathematical simulation platform of MAV autonomous flight control, analyzing the importance of the flight experiments in the design of MAV autonomous flight and studying the key technologies in MAV flight experiments, developing plentiful flight experiments to provide the necessary assistance or validation check for the design of MAV autonomous flight control.
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