针对某小型无人机实用化飞行控制系统需求,提出了一种非线性飞行控制律的设计方法,该方法基于奇异摄动理论的反步法,对传统的反步设计方法进行了改进。该方法在实施过程中使用测量数据,而不是模型知识,因此适用于更广泛的小型通用飞机或者无人机系列。针对某小型无人机开发的飞机模型进行了控制器性能仿真分析。结果表明,测量噪声对飞行控制的影响很小,该控制器可以获得良好的跟踪性能(无论是否存在不确定性)并且同时保证了受控系统的稳定性。开发的新控制器比传统的反步法具有更大的优势,即模型不确定性对性能的影响较小,因此该控制器的设计方法对无人机先进飞行控制律认证起到了进一步的推动作用。

In order to meet the requirements of the practical flight control system of a small UAV, a design method of nonlinear flight control law is proposed, which is based on the backstepping method of singular perturbation theory and improves the traditional backstepping design method. This method uses measurement data rather than model knowledge in the implementation process, so it is suitable for a wider range of small general-purpose aircraft or UAV series. The performance of the controller is simulated and analyzed for the aircraft model developed by a small UAV. The results show that the measurement noise has little effect on the flight control. The controller can obtain good tracking performance (whether there is uncertainty or not) and ensure the stability of the controlled system at the same time. The new controller developed in this paper has more advantages than the traditional backstepping method, that is, the model uncertainty has less impact on the performance, so the design method of the controller plays a further role in promoting the certification of UAV advanced flight control law.