The Flight Control Research Of The Flying-wing UAV Based On Inverse Model

The flying-wing UAV has won the wide attention with the advantaged of aerodynamic layout. However, The flying-wing UAV needs reasonable configuration of control surfaces as it has multiple control surfaces, greatly different control efficiency and strongly coupling of manipulation. It is also characterized by heading static instability, significant nonlinear characteristics and serious angular motion coupling. Therefore, this paper designs the inverse model of angle dynamics based on the angle acceleration pseudo control instruction. Meanwhile, it also designs the longitudinal and lateral control laws of good control quality to ensure the completion of maneuvering flight mission.Based on the manipulated layout and manipulated performance of the sample of flying-wing UAV, this paper uses the discreted chain and direct control allocation method with angular acceleration as the instruction to achieve the configuration of multiple control surfaces, then simulates and verifies the validity. According to the principle of the angle dynamics, the inverse model of angle dynamics is built to achieve the mapping from three-axis angular acceleration pseudo control instruction to the control surfaces deflection.Furthermore, according to the principle of robust adaptive principle, based on this inverse model, RSLQR-L1 controller is designed with C* as its longitudinal inner loop control variable which has achieved the tracking accuracy of high rate and height. Considering the problems of course instability, stability augmentation control law is designed after inertia decoupling and cross decoupling. The lateral controller is figured out by using RSLQR method, which has realized prompt response of roll angle and has settled the lateral trajectory tracking problem for maneuvering flight.At the end of this paper, numerical simulation environment is built by MATLAB software. The simulations of fast turning, wingover and swoop maneuvering and drum maneuvering indicate that controllers can realize the coordinated control under the influence of model uncertainties and atmosphere wind field. Finally, the simulations achieve the maneuvering flight mission and satisfy the robustness, accuracy and rapidity requirements of maneuvering system.