非線性動態反算之飛翼無人機飛控系統設計

Design of a Nonlinear Dynamic Inversion Based Flight Control System for a Flying-Wing UAV

陳鼎文(Ding-Wen Chen)

指導教授 ： 蕭照焜

淡江大學/工學院/航空太空工程學系碩士班/碩士(2021年)

https://doi.org/10.6846/TKU.2021.00036

摘要

本論文的目的在於設計僅以升降舵補助翼控制之有效的非線性控制器，及可以追蹤指定軌跡之導引率。
其非線性控制器採用非線性動態反算，此控制器將縱橫向運動解耦合，並能夠有效的控制飛機之滾轉率及俯仰率，且依據理想動力來設計其參數。導引律則採用三維自適應最佳導引律，該導引律是由線性二次調節器(LQR控制器)推導出，其可追蹤指定之飛行路徑。
最後成功以模擬演示該控制律以及導引律能夠將無尾翼飛機追蹤其指定之軌跡。

關鍵字

非線性控制器 ； 非線性動態反算 ； 飛翼 ； 導引率

並列摘要

The purpose of this thesis is to design an effective nonlinear flight control system that only uses elevon to control the flying-wing UAV and to design the guidance law that can track the specified trajectory. The nonlinear dynamic inversion technique is adopted for this control system design. It can effectively control the roll rate and pitch rate of the aircraft and meet the design requirement of the desired dynamics generated to satisfy certain flying qualities. The thesis also developed an infinite-horizon LQR based three-dimensional adaptive optimal guidance law to track the designated flight path. Finally, computer simulations were successfully demonstrated to show that the proposed control law and guidance law can control the flying-wing UAV track the designated trajectory effectively.

並列關鍵字

Nonlinear Control Theory ； Nonlinear Dynamic Inversion ； Flying Wing ； Guidance Law

參考文獻

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