考虑模型-环境不确定性的仿生飞行器轨迹跟踪控制

doi:10.13229/j.cnki.jdxbgxb.20230176

吉林大学学报(工学版) ›› 2024, Vol. 54 ›› Issue (12): 3699-3710.doi: 10.13229/j.cnki.jdxbgxb.20230176

考虑模型-环境不确定性的仿生飞行器轨迹跟踪控制

侯胜杰¹(),汪忠来²(),智鹏鹏³,郑皓²,徐璟²

^1.军事科学院国防科技创新研究院，北京 100071
^2.电子科技大学机械与电气工程学院，成都 611731
^3.电子科技大学长三角研究院（湖州），浙江湖州 313001

收稿日期:2023-02-28 出版日期:2024-12-01 发布日期:2025-01-24
通讯作者: 汪忠来 E-mail:houshengjiework@sina.com;wzhonglai@uestc.edu.cn
作者简介:侯胜杰（1989-），男，助理研究员，博士.研究方向：仿生飞行器，系统仿真.E-mail：houshengjiework@sina.com
基金资助:
航空科学基金项目(2024Z005183001);湖州市科技计划项目(2023GZ05)

Trajectory tracking control method of biplane air vehicle considering model⁃environment uncertainty

Sheng-jie HOU¹(),Zhong-lai WANG²(),Peng-peng ZHI³,Hao ZHENG²,Jing XU²

^1.National Innovation Institute of Defense Technology，Academy of Military Sciences，Beijing 100071，China
^2.School of Mechanical and Electrical Engineering，University of Electronic Science and Technology of China，Chengdu 611731，China
^3.Yangtze Delta Region Institute （Huzhou），University of Electronic Science and Technology of China，Huzhou 313001，China

Received:2023-02-28 Online:2024-12-01 Published:2025-01-24
Contact: Zhong-lai WANG E-mail:houshengjiework@sina.com;wzhonglai@uestc.edu.cn

摘要/Abstract

摘要：

针对仿生微型复翼飞行器（BFMAV）运动过程中模型参数不确定性和阵风扰动对飞行轨迹的影响问题，提出一种基于自适应模型预测控制（MPC）的轨迹跟踪控制方法。依据BFMAV的结构特征，建立其六自由度非线性动力学模型；引入内外扰动项表征模型参数不确定性和阵风扰动，确定BFMAV的状态方程，并进行姿态制导律设计实时调整姿态角；将内外扰动项嵌入MPC模型中，建立考虑模型-环境不确定性的BFMAV轨迹预测模型，通过设计补偿观测器和扰动观测器实现MPC模型的自适应控制和快速求解；采用不同控制方法对自由飞行和存在内外扰动两种情况下的轨迹跟踪状态进行仿真，验证本文方法的有效性。结果表明：相比传统MPC方法，本文方法追踪性能稳定、追踪误差较小；在模型不确定性和外部扰动共存的情况下，可以精确完成BFMAV的轨迹跟踪任务。

关键词: 仿生微型复翼飞行器, 轨迹跟踪, MPC模型, 自适应控制

Abstract:

A trajectory tracking control method based on adaptive model predictive control （MPC） was proposed to address the influence of model parameter uncertainty and gust disturbance on the flight trajectory of biplane flapping-wing micro air vehicles （BFMAV） during its task process. Firstly， a six degree of freedom nonlinear dynamic model was built according to the structural characteristics of a BFMAV. Secondly， the internal and external disturbance were introduced to characteristic the model parameter uncertainty and gust disturbance， the state equation of the BFMAV was further determined， and the attitude guidance law was designed to adjust the attitude angle in real-time. Thirdly， a BFMAV trajectory prediction model considering model-environment uncertainty was built by embedding the internal and external disturbance into the MPC model. Finally， different control methods were used to simulate the trajectory tracking states in the free flight and with internal and external disturbances to verify the effectiveness of the proposed method. The results show that the proposed method has stable tracking performance and small tracking error compared with the traditional MPC method. In the case of model uncertainty and external disturbance， the trajectory tracking task of the BFMAV can be completed well.

Key words: biplane flapping-wing micro air vehicle, trajectory tracking, MPC model, adaptive control

中图分类号:

V249.12

侯胜杰,汪忠来,智鹏鹏,郑皓,徐璟. 考虑模型-环境不确定性的仿生飞行器轨迹跟踪控制[J]. 吉林大学学报(工学版), 2024, 54(12): 3699-3710.

Sheng-jie HOU,Zhong-lai WANG,Peng-peng ZHI,Hao ZHENG,Jing XU. Trajectory tracking control method of biplane air vehicle considering model⁃environment uncertainty[J]. Journal of Jilin University(Engineering and Technology Edition), 2024, 54(12): 3699-3710.

图/表 14

图1

图2

图3

图4

图5

图6

图7

表1

BFMAV物理参数"

参数符号	描述	数值
m	总质量/g	15.40
$I x$	x轴转动惯量/（kg·m^-2）	$4.9 × 10 - 6$
$I y$	y轴转动惯量/（kg·m^-2）	$4.3 × 10 - 6$
$I z$	z轴转动惯量/（kg·m^-2）	$1.2 × 10 - 6$
$I x z$	相对x轴z轴惯性积/（kg·m^-2）	$5.6 × 10 - 7$

表1

图8

图9

图10

图11

图12

表2

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考虑模型-环境不确定性的仿生飞行器轨迹跟踪控制

Trajectory tracking control method of biplane air vehicle considering model⁃environment uncertainty

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