摘要
介绍了一种小型涵道式无人机的姿态控制系统的设计及实现技术。首先通过对无人机组成部分的动力学分析建立了涵道式无人机的数学模型,将模型进行线性化,并针对飞行试验过程中的不确定性以及结构紧凑带来的易受外部干扰的特性设计了基于H∞理论的鲁棒控制器,并将控制器带入非线性系统进行仿真,仿真结果验证了该算法的有效性。飞行试验结果表明,该控制器在悬停及小范围机动时比传统的PID控制器具有更强的抗干扰性,提高了飞行器的稳定性和操控性。
The flight attitude control system for the small size ducted fan unmanned aerial vehicle （UAV） is presented.Firstly,the mathematic model for the UAV is constructed from the forces and moments analysis of the vehicle,and the derived nonlinear model is linearized in the hovering flight condition.Then the robust flight attitude controller based on this linear model is designed to deal with the parameter uncertainty and external disturbance which is due to the compact configuration.The validity of the controller is verified by the simulation results,and also the controller is applied in the flight testing.The results show that the vehicle with the controller has a good performance of operation stability.
出处
《电机与控制学报》
EI
CSCD
北大核心
2010年第9期81-87,共7页
Electric Machines and Control
基金
国防预研资助项目(51309030102)
关键词
涵道式无人机
动力学模型
参数摄动
干扰抑制
H∞控制理论
飞行试验
ducted fan unmanned aerial vehicle
dynamic model
parameter perturbation
disturbance attenuation
H∞ control theory
flight testing
