大展弦比太阳能无人机横航向姿态控制研究

A solar-powered UAV usually has a high-aspect-ratio and flexible structural design. Its aerodynamic and mass characteristics are different from those of a conventional aircraft. This paper compares the differences in lateral aerodynamic data with those of Class I and Class III aircrafts. Based on the rigid-body dynamics theory, the effects of flexible wing deformation on the stability of the UAV are analyzed. Then, by combining the structural deformation, inertia variation and aerodynamic derivative, the solar-powered UAV′s lateral stability is analyzed based on the root locus method. The variation of eigenvalues with wing deformation is also investigated. The rolling moment equation is combined with the kinematic equation to reveal the roll attitude limitation envelope constrained by the kinematic coupling and aileron effects. Taking into account the aerodynamic characteristics of the solar-powered UAV, its wing deformation and roll attitude limitation problem, this paper proposes an adaptive back-stepping control method with strong robustness to achieve the accurate control of the roll attitude of the solar-powered UAV.