Abstract: A control method of the velocity-section incremental non-linear dynamic inversion is presented aiming to solve the low accuracy of the parameter in the small UAV model. Based on the UAV moment equation and non-linear dynamic inversion, the relation is constructed that angular acceleration is implicit input and the control surface deflection is the output. Then the angular acceleration is computed based on small perturbation theory. The angular acceleration increment caused by the aircraft frame is computed in different velocity sections and the result is used as a method of the correct factor, and the direct relation of the incremental control-surface deflection and the angular acceleration is derived. The inner-loop and the outer-loop control laws are constructed based on the newly-discovered relation. The angular acceleration feedback reduces the sensitivity to the model parameter. The existence of the correct factor enhances the control accuracy of UAV in complex conditions. The simulation experiments prove the validity of this method.

Key words: incremental non-linear dynamic inversion, small UAV, velocity-section, Aerosim

摘要： 针对小型无人机模型参数精度不高的问题，提出一种速度分段的增量非线性动态逆姿态控制方法。该方法根据无人机力矩方程，用非线性动态逆构建出角加速度为隐式输入，舵面偏转量为输出的关系式；运用小扰动原理计算角加速度，并通过在不同的速度区间内计算机体力矩对角速度的偏导，并将该结果作为角加速度修正因子的方法，得到舵面偏转增量与角加速度的直接关系式；基于新发现的关系式构建了内、外环控制律，角加速度作为反馈降低了对模型参数的敏感性，修正因子的引入提高了控制精度。仿真实验表明了该方法的有效性。

关键词: 增量非线性动态逆, 小型无人机, 速度分段, Aerosim