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基于混沌与DFT对无人机控制不稳定性的研究

DOI: doi:10.3969/j.issn.1006-7043.2011.01.010

Keywords: 非线性运动模型, 不稳定性, 混沌运动, 鞍焦点, 异宿轨道, 无人直升机系统, DFT

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Abstract:

针对无人机的飞行安全这一典型的系统工程问题,从目前国际惯用的非线性控制和辨识建模的角度出发,通过建立波动信息能量函数模型并结合模糊评价理论,量化分析了DFT变换对无人机系统建模和控制的不稳定性影响;通过对无人机非线性运动模型的分析,说明了该模型中各参数的不稳定关系和不稳定特征,提出了符合Shilnikov定理的三阶非线性模型;通过构造综合影响函数和进行参数配置,确定了无人机非线性运动模型的若干鞍焦点和异宿轨道,从而找到了该系统的若干混沌运动轨道.最后通过仿真证明了直升机非线性运动模型的混沌运动特征和运用DFT辨识模型进行控制的条件下出现无人机不稳定性现象,说明了无人机非线性运动模型混沌运动的存在性及DFT变换中的高阶能量损失和参数配置方式的共同作用模式可构成无人机系统不稳定性的条件.

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