Nichtlineare adaptive Regelung eines unbemannten Fluggerätes

Eine zentrale Anforderung an unbemannte Fluggerate ist die autonome Durchfuhrung der geplanten Flugmission. Zur Erreichung dieses Zieles muss das Regelungssystem des Flugzeuges ein hohes Mas an Robustheit gegenuber Modell- und Parameterunsicherheiten sowie die Anpassungsfahigkeit aufweisen, um Stor- und Ausfallsituationen meistern zu konnen. Ferner muss die Einhaltung von Betriebsgrenzen gewahrleistet sein. Es wird ein auf nichtlinearer dynamischer Inversion beruhendes adaptives Regelungskonzept vorgestellt, das die genannten Anspruche erfullt und das den Flug auf komplexen, dreidimensionalen Bahnen mit hoher Bandbreite und groser Fuhrungsgenauigkeit ermoglicht. Das System erlaubt die volle Ausnutzung der Flugleistungen der Konfiguration und berucksichtigt insbesondere auch Sattigungen in Ruderausschlagen und -stellraten. Der Nachweis der Funktionsfahigkeit erfolgt anhand nichtlinearer Simulationen unter Verwendung eines komplexen Simulationsmodells.

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