CAJ | 학술논문

针对三点式起落架无人机建立了地面滑跑的非线性数学模型，提出了总体的滑跑起飞控制方案，包括横侧向的滑跑纠偏控制律和纵向升降舵配合控制律。横侧向采用侧向偏差和侧向速度组合的控制结构，通过前轮和方向舵联动方式实现，并在经典的PID控制器的基础上进行改进，设计了模糊控制器；纵向根据飞机滑跑段的性能分析，给出纵向控制方案，通过升降舵配合实现。仿真结果表明，模糊控制器对非线性较大的系统有较好的控制能力，侧偏和速度组合的控制结构纠偏效果明显，起飞过程平稳，滑跑起飞控制方案有一定的可行性和合理性。
침대삼점식기락가무인궤건립료지면활포적비선성수학모형，제출료총체적활포기비공제방안，포괄횡측향적활포규편공제률화종향승강타배합공제률。횡측향채용측향편차화측향속도조합적공제결구，통과전륜화방향타련동방식실현，병재경전적PID공제기적기출상진행개진，설계료모호공제기；종향근거비궤활포단적성능분석，급출종향공제방안，통과승강타배합실현。방진결과표명，모호공제기대비선성교대적계통유교호적공제능력，측편화속도조합적공제결구규편효과명현，기비과정평은，활포기비공제방안유일정적가행성화합이성。
The safe take-off and landing of UAV are bottleneck issue for its development.We establish the mathe-matical model of taxiing take-off of a UAV with three-wheel landing gears and propose its overall taxiing take-off control scheme that includes the lateral taxiing deviation correction control law and the rudder longitudinal control law.To eliminate lateral deviation and lateral velocity, the lateral taxiing deviation correction control law has the in-terpolated variantp-arameter PID controller and the fuzzy controller , with the front wheel cooperating with the rud-der .The implementation of longitudinal control law is assisted by the elevator according to the UAV taxiing perform -ance.The simulation results, given in Fig.8, and their analysis show preliminarily that the taxiing take -off control scheme we designed has good control performance for large nonlinear systems and can effectively correct lateral taxi-ing deviation.Thus the UAV takes off smoothly;the taxiing take-off control scheme is reasonable and feasible .