Stability and Control of a High-Altitude, Long-Endurance UAV
Stability and Control of a High-Altitude, Long-Endurance UAV
复制标题
高空长航时无人机的稳定性与控制
DOI：
10.2514/1.25814
复制
发表时间：
2007
影响因子：
2.6
通讯作者：
G. Frulla
中科院分区：
文献类型：
--
作者：
I. Tuzcu;P. Marzocca;E. Cestino;G. Romeo;G. Frulla
本文主要研究高空长航时无人机的稳定性分析、控制设计和仿真。这些飞机是高度灵活的，具有非常低的结构频率。因此，弹性体运动和刚体运动之间的分离不再存在，必须使用统一这两种运动的方法。所考虑的飞机的可用数据包括飞机的几何形状、空气动力数据、质量、抗弯刚度和抗扭刚度分布。飞机机翼被模拟为一个柔性梁弯曲和扭转，而其余的成员被假定为刚性。在准坐标系下，利用拉格朗日方程得到了运动方程。摄动方法将问题分为标称动力学和摄动动力学。标称动力学方程用于设计所需的机动和确定相应的结构变形。扰动动力学方程用于解决飞机在所需飞行路径上的稳定性，设计反馈控制以保持稳定飞行，并模拟飞机的运动。
This paper addresses stability analysis, control design, and simulation of high-altitude, long-endurance unmanned aerial vehicles. These aircraft are highly flexible and have very low structural frequencies. Hence, the separation between the elastic and rigid body motions no longer exists, and an approach that unifies these two motions must be used. The available data of the aircraft considered include the geometry of the aircraft, aerodynamic data, and mass, flexural rigidity, and torsional rigidity distributions. The wing of the aircraft is modeled as a flexible beam undergoing bending and torsion, whereas the remaining members are assumed to be rigid. The equations of motion are obtained by means of the Lagrangian equations in quasi coordinates. A perturbation approach separates the problem into nominal dynamics and perturbation dynamics. The equations for nominal dynamics are used to design desired maneuvers and to determine the corresponding structural deformations. The equations for perturbation dynamics are used to address stability of the aircraft on the desired flight paths, to design feedback controls to maintain stable flights, and to simulate the motion of the aircraft.