摘要
研究无人机控制器优化设计问题,针对固定参数控制器难以满足无人机大包线飞行品质的问题,用程序调参的思想设计了某型无人机俯仰角的控制系统。首先建立无人机小扰动化线性模型,再利用根轨迹法,设计了无人机平衡点处的俯仰角局部控制器,得到了程序调参增益调度表,最后利用三次样条插值法拟合出了调参曲面,可实现无人机俯仰角的全局程序调参控制,并使无人机达到了一级飞行品质标准。利用Simulink软件进行仿真的结果表明,所设计的程序调参控制律合理有效,控制系统在整个飞行包线内都具有良好的动态响应性能,证明改进方法具有一定的工程应用价值。
Aiming at the problem that fixed parameter cannot satisfy UAV＇ s handling qualities requirements in large envelope, the pitching angle control system was designed based on the thought of gain-schedule. Firstly, the UAV＇ s model was linearized under the small disturbance. Secondly, the UAV＇ s pitching angle controllers in each e- quilibrium point were designed using root locus method and the gain-schedule table was obtained. Then, the gain- schedule surface was designed by cubic spline interpolation. At the last, the UAV＇ s pitching angle gain-schedule control law was realized, and the level 1 handling qualities requirements were satisfied. Simulation results show that the gain-schedule control law is effect, and the fight control system has good performance in the whole envelope. The integral analysis suggests that the method has some values in engineering applications.
出处
《计算机仿真》
CSCD
北大核心
2013年第1期74-77,158,共5页
Computer Simulation
基金
国家自然科学基金(61164015)
航空基金(2011ZA56021)
关键词
程序调参
俯仰角
无人机
根轨迹
大包线
Gain-schedule
Pitching angle
UAV
Root locus
Large envelope
