固定翼无人机动态逆控制方法与工程实现
Dynamic Inversion Control Method and Engineering Implementation for Fixed-Wing Unmanned Aerial Vehicle

无人机的稳定性和平稳性是飞行控制的一项重要指标，而无人机飞行时产生的非线性问题是控制率设计中亟需解决的问题。本文以固定翼无人机为研究对象，研究了固定翼飞行控制的动态逆控制方法，搭建了固定翼无人机飞行控制系统框架图，并设计了自适应动态逆控制器及多种飞行控制模式，完成数据接收和解算，在飞控硬件设备上完成了工程实施并进行了飞行试验。初步飞行试验表明，所设计的动态逆控制器满足了固定翼无人机飞行控制的需求。
The stability and smoothness of UAV are important indicators of flight control, while the nonlinear problems generated during UAV flight are crucial issues that need to be addressed in control rate design. This paper focuses on fixed-wing UAV, studying the dynamic inverse control method for fixed-wing flight control. A framework diagram of the fixed-wing UAV flight control system was constructed, and an adaptive dynamic inverse controller and multiple flight control modes were designed to complete the data reception and decalculation. Engineering implementation was carried out on the flight control hardware, followed by flight tests. Preliminary flight tests indicate that the designed dynamic inverse controller meets the requirements for fixed-wing UAV flight control.