CAJ | 학술논문

基于微型飞行器(MAV)尺寸小、载重及能量供给有限,难于获取完整的飞行状态参数,对机载的设备和导航控制系统要求很高等特点,提出了一种应用于翼展680 mm的电动微型飞行器的基于航迹角度和偏航距误差的几何导航控制算法,并利用MEMS传感器设计了飞行控制系统,给出了PID控制率.Matlab仿真试验表明,该系统在3种PID控制率下均可很好地实现导航控制,偏航控制误差低于30 m;空中飞行试验表明,提出的算法有效地实现了电动微型飞行器的导航控制飞行,在2级风情况下,偏航误差低于30 m.
기우미형비행기(MAV)척촌소、재중급능량공급유한,난우획취완정적비행상태삼수,대궤재적설비화도항공제계통요구흔고등특점,제출료일충응용우익전680 mm적전동미형비행기적기우항적각도화편항거오차적궤하도항공제산법,병이용MEMS전감기설계료비행공제계통,급출료PID공제솔.Matlab방진시험표명,해계통재3충PID공제솔하균가흔호지실현도항공제,편항공제오차저우30 m;공중비행시험표명,제출적산법유효지실현료전동미형비행기적도항공제비행,재2급풍정황하,편항오차저우30 m.
Micro Air Vehicles(MAV) are characterized by their small sizes,low powers and load ability,so it is difficult to obtain the full state measurements in real time and short of a full control degree.In order to solve the problems of autonomous fight control and stability,this paper presents a guidance algorithm for the relative miniature GPS-based navigation system of an electrically MAV. One standard geometric method for solving autonomous flight is adopted to derive a class of algorithm based on the heading angle error and yawing distance error and the MEMS sensors are used to design a flight control system. Simulation and practical experiments show that the guidance algorithm used in the MAVs is effective with different PID controlling parameters, which can obtain a yawing distance error less than 30 m. The TH680 equipped with the GPS-based autonomous flight control system loading the designed geometric algorithms has been successfully tested in a flight, and the yawing distance error is less than 30 m in a 2 level wind.