付云, 肖澳, 刘备, 余运俊, 黄玉水, 万晓凤. 带有非均质刚柔耦合翼的无人机边界控制[J]. 工程科学学报. DOI: 10.13374/j.issn2095-9389.2023.09.30.001
引用本文: 付云, 肖澳, 刘备, 余运俊, 黄玉水, 万晓凤. 带有非均质刚柔耦合翼的无人机边界控制[J]. 工程科学学报. DOI: 10.13374/j.issn2095-9389.2023.09.30.001
FU Yun, XIAO Ao, LIU Bei, YU Yunjun, HUANG Yushui, WAN Xiaofeng. Boundary control for an unmanned aerial vehicle with a nonhomogeneous rigid–flexible coupling wing[J]. Chinese Journal of Engineering. DOI: 10.13374/j.issn2095-9389.2023.09.30.001
Citation: FU Yun, XIAO Ao, LIU Bei, YU Yunjun, HUANG Yushui, WAN Xiaofeng. Boundary control for an unmanned aerial vehicle with a nonhomogeneous rigid–flexible coupling wing[J]. Chinese Journal of Engineering. DOI: 10.13374/j.issn2095-9389.2023.09.30.001

带有非均质刚柔耦合翼的无人机边界控制

Boundary control for an unmanned aerial vehicle with a nonhomogeneous rigid–flexible coupling wing

  • 摘要: 随着无人机技术的快速发展及工程应用需求的不断增长,具有隐蔽性好、快速灵活及经济性能好等许多优点的扑翼无人机在国民经济生活中发挥着越来越重要的作用. 然而,受无人机使用环境限制及自身快速机动运行的特点,扑翼无人机的机翼通常存在连续高频振动,这些不理想的振动会影响系统的稳定性及无人机使用寿命. 因此,本文研究带有刚柔耦合翼的扑翼无人机的振动抑制及姿态控制问题. 首先,考虑外部干扰对扑翼无人机系统的影响,运用哈密顿原理,将由均质刚性连杆链接非均质柔性连杆组成的扑翼系统建模为无穷维分布参数系统. 随后,基于反步法,设计两个边界控制律来镇定系统. 运用鲁棒控制策略,构建辅助输入信号及干扰自适应律来抵消外部干扰的影响. 通过在无人机本体及刚柔耦合翼的链接处布置传感器及执行器来抵消柔性翼的振动并调节刚性翼及柔性翼的姿态至期望角位置. 其后,运用李雅普诺夫稳定性理论严格证明了闭环系统的一致有界稳定性. 最后,开展数值仿真实验来证明所设计控制方案的可行性及控制效果.

     

    Abstract: With the rapid development of unmanned aerial vehicle technology and the continuous growth of requirements demanded in engineering applications, flapping-wing unmanned aerial vehicles are playing an increasingly important role in the national economy and livelihood because of their advantages such as good concealment, rapid maneuverability, high flexibility, and excellent economic performance. However, due to the limitations of the operating environment and their rapid maneuvering, the wings of flapping-wing unmanned aerial vehicles often have continuous high-frequency vibrations. These undesirable vibrations can affect the stability of the system and reduce its service life. In addition, flapping-wing unmanned aerial vehicles adjust their attitude rapidly and accurately during operation to accomplish assigned tasks. Therefore, this study focuses on the issues of vibration suppression and attitude control for flapping-wing unmanned aerial vehicles with rigid–flexible coupling wings. First, considering the impact of external disturbances on a flapping-wing unmanned aerial vehicle, using the Hamiltonian principle, the flapping-wing system comprising the homogeneous rigid link connected with the heterogeneous flexible link is modeled as an infinite dimensional distributed parameter system. The dynamic equations of the flapping-wing unmanned aerial vehicle are expressed as nonhomogeneous partial differential equations coupled with ordinary differential equations. Afterward, based on the original model with infinite-dimensional state space, two boundary control laws are designed to stabilize the system of the flapping-wing unmanned aerial vehicle by applying the back-stepping method. Different from the traditional modal control methods, the proposed control scheme can avoid overflow instability and control all system modals. An auxiliary input signal and disturbance adaptive law are constructed to cancel the impact of external disturbances via the robust control strategy. The developed disturbance rejection technique greatly relaxes the assumptions about external disturbances. By arranging the sensors and actuators at the body of the flapping-wing unmanned aerial vehicle and the connection point of the rigid–flexible coupling wing, the vibrations of the flexible wing are regulated into the vicinity around the original position and the attitude angle positions of the rigid and flexible wings are adjusted to the desired angular positions. It is worth noting that the proposed boundary control scheme exhibits great feasibility, cost-effectiveness, and robustness. Using the Lyapunov stability theory, it is rigorously proven that the closed-loop system is uniformly bounded stable. Finally, numerical simulations are conducted to demonstrate the effectiveness and performance of the designed control scheme.

     

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