基于大脑情感学习的推力矢量无人机姿态控制

Journal of Systems Engineering and Electronics ›› 2009, Vol. 31 ›› Issue (12): 2954-2957.

基于大脑情感学习的推力矢量无人机姿态控制

黄国勇，王道波，甄子洋

南京航空航天大学自动化学院, 江苏南京 210016

出版日期:2009-12-24 发布日期:2010-01-03

Attitude control of thrust vectoring unmanned aerial vehicle based on brain emotional learning

HUANG Guo-yong，WANG Dao-bo，ZHEN Zi-yang

Coll. of Automation Engineering, Nanjing Univ. of Aeronautics and Astronautics, Nanjing 210016, China

Online:2009-12-24 Published:2010-01-03

摘要/Abstract

摘要：

建立了与普通无人机相区别的带推力矢量的无人机数学模型，并提出了一种基于大脑情感学习(brain emotion learning, BEL)的推力矢量无人机姿态控制方法。首先设计了气动控制器和近似推力矢量控制器，然后设计了基于BEL算法的推力矢量控制补偿器。对无人机全量模型进行非线性数值仿真，结果验证了所建立的数学模型的正确性、推力矢量技术在无人机姿态控制上的特定优势以及BEL智能方法的自学习、自适应能力。

Abstract:

A mathematical model of a unmanned aerial vehicle with the thrust vectoring technology (UAV), which differs from the general model, is established. A new attitude control method of the UAV with the thrust vectoring technology based on a brain emotional learning (BEL) algorithm is presented. A pneumaticrudder controller and a thrust vectoring controller are designed, respectively. Furthermore, a BEL algorithm based compensator of the thrust vectoring controller is derived. Nonlinear numerical simulation of a UAV whole model is implemented, the results show the correctness of the model, the particular advantages of the thrust vectoring technology in application of UAV attitude control and the selflearning adaptive ability of the BEL intelligent method.

黄国勇，王道波，甄子洋. 基于大脑情感学习的推力矢量无人机姿态控制[J]. Journal of Systems Engineering and Electronics, 2009, 31(12): 2954-2957.

HUANG Guo-yong，WANG Dao-bo，ZHEN Zi-yang. Attitude control of thrust vectoring unmanned aerial vehicle based on brain emotional learning[J]. Journal of Systems Engineering and Electronics, 2009, 31(12): 2954-2957.