CAJ | 학술논문

　　针对小型无人机模型参数精度不高的问题，提出一种预测增量动态逆姿态控制方法。该方法以角加速度作为姿态控制的反馈，从而降低了控制系统对模型参数的敏感性。根据无人机力矩方程，先将角加速度计算式写成增量形式；再根据非线性动态逆方法构建出角加速度为隐式输入、舵面偏转量增量为输出的直接关系式；在控制器中引入预测滤波器，对角加速度进行滤波和预测，提高反馈信号的精度和实时性。飞行实验表明方法是有效性的。
　　침대소형무인궤모형삼수정도불고적문제，제출일충예측증량동태역자태공제방법。해방법이각가속도작위자태공제적반궤，종이강저료공제계통대모형삼수적민감성。근거무인궤력구방정，선장각가속도계산식사성증량형식；재근거비선성동태역방법구건출각가속도위은식수입、타면편전량증량위수출적직접관계식；재공제기중인입예측려파기，대각가속도진행려파화예측，제고반궤신호적정도화실시성。비행실험표명방법시유효성적。
A control method of the prediction incremental dynamic inversion is presented aiming to solve the low accuracy of the parameters in the small UAV model. The angular acceleration is taken as the feedback of the attitude control system and the sensitivity to the model parameter is reduced by the method. Based on the UAV moment equation, an incremental formulation is conducted to calculate the angular acceleration. The direct relation is constructed that angular acceleration is implicit input and the control surface deflection is the output based on the theory of dynamic inversion. A predictive filter is used in the controller to filter and predict the value of the angular acceleration, which enhance the accuracy and real-time of the feedback signal. The flight experiment proves the validity of the method presented in this paper.