低成本无人机无动力滑翔控制方法及试飞验证

马振宇; 苗昊春; 栗金平; 常江; 曹传硕

doi:10.12382/bgxb.2025.0858

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低成本无人机无动力滑翔控制方法及试飞验证

更新时间：2026-02-10

- 低成本无人机无动力滑翔控制方法及试飞验证
- Flight Test and Unpowered Gliding Control Method of Low-cost UAVs
- 兵工学报 2025年46卷第S2期页码：250858
- 作者机构：
  
  1. 西安现代控制技术研究所, 陕西西安 710065
  2. 陆空基信息感知与控制重点实验室, 陕西西安 710065
- 作者简介：
  
  * 邮箱: iamspring@foxmail.com
- 基金信息：
  
  中国科协青年人才托举项目(2024QNRC001)
- DOI：10.12382/bgxb.2025.0858
  中图分类号：
- 收稿：2025-09-18，
  
  网络首发：2026-02-03，
  
  纸质出版：2025
- 稿件说明：
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马振宇, 苗昊春, 栗金平, 等. 低成本无人机无动力滑翔控制方法及试飞验证[J]. 兵工学报, 2025,46(S2):250858.

Zhenyu MA, Haochun MIAO, Jinping LI, et al. Flight Test and Unpowered Gliding Control Method of Low-cost UAVs[J]. Acta Armamentarii, 2025, 46(S2): 250858.
马振宇, 苗昊春, 栗金平, 等. 低成本无人机无动力滑翔控制方法及试飞验证[J]. 兵工学报, 2025,46(S2):250858. DOI： 10.12382/bgxb.2025.0858.

Zhenyu MA, Haochun MIAO, Jinping LI, et al. Flight Test and Unpowered Gliding Control Method of Low-cost UAVs[J]. Acta Armamentarii, 2025, 46(S2): 250858. DOI： 10.12382/bgxb.2025.0858.

摘要

以低成本无人机为研究对象

针对其失去动力后易发生失速坠机的问题

提出一种集成姿态、攻角及过载边界保护功能的滑翔控制方法。研究构建无动力无人机的纵向动力学模型并展开最优滑翔速度分析

基于动态逆理论设计真空速控制律与俯仰角控制律

构成控制外回路

同时采用自抗扰控制方法改进伪攻角三回路过载控制律

设计出具有较强抗扰动能力的纵向过载控制律作为控制内回路。仿真与飞行试验结果表明:该控制方法具有良好的抗风能力能在40m/s以上顺逆风条件和20m/s阵风条件下稳定飞行

并能够在不同海拔高度适应10%的气动参数拉偏具有较好的控制性能和鲁棒性

于此同时在不额外增设传感器的情况下

实现了对低成本无人机关键状态的边界保护

为无动力工况下无人机安全飞行提供了可靠技术支撑。

Abstract

To address the stall and crash problems of low-cost unmanned aerial vehicles (UAVs) after losing power

this paper proposes a gliding control method integrating the attitude

angle of attack

and overload boundary protection functions.A longitudinal dynamic model of the unpowered UAV is established

and the optimal gliding speed is analyzed.Based on the nonlinear dynamic inversion (NDI)theory

the true airspeed control law and pitch angle control loop are designed as the outer loop of control law.Meanwhile

the active disturbance rejection control method is adopted to improve the pseudo-angle-of-attack three-loop overload control law

and the longitudinal overload control law with strong disturbance rejection capability is designed as the inner loop of the control method.The simulated and flight test results show that the designed controller not only has excellent wind resistance

enabling stable flight under headwind/tailwind conditions exceeding 40m/s and gust wind of 20m/s.It can adapt to a 10% deviation of aerodynamic parameters at different altitudes

delivering superior control performance and robustness

and can realize the boundary protection of the key states of low-cost UAVs without adding sensors.This provides technical support for the safe flight of UAVs under unpowered conditions.

关键词

Keywords

references

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