摘要
针对飞翼式布局无人机存在纵向操稳性能差和易受阵风干扰问题,采用一种指令跟踪增广LQR方法设计了飞翼式无人机纵向姿态控制律,该方法将系统的输出误差和外界恒值阵风干扰信号引入到性能指标函数中,使设计出来的控制器不仅能保证飞行姿态的无静差跟踪,而且能有效抑制外界的阵风干扰。考虑到系统的迎角变量不易检测,结合降维观测器得到了一种准指令跟踪增广LQR方法,该方法不仅具有良好的鲁棒性和跟踪性,而且便于工程实现。最后利用获得的控制律对ICE飞翼式无人机进行仿真实验和对比分析,结果表明,采用改进后的LQR方法设计的控制器不仅改善了飞翼式无人机纵向模态的飞行品质,同时与输出反馈线性二次型跟踪方法和LQG/LTR方法相比,具有更好的控制性能。
Taking the problem that the flying wing UAV has poor longitudinal control and stability and is vulnerable to the gust disturbance into account. The longitudinal attitude control law of the flying wing UAV which is designed by a command tracking augmented LQR method that introduced the output error of the system and the constant gust disturbance signal to the performance index function. The designed controller not only ensures zero static error tracking of flight attitude, also restrain gust disturbance from outside effective- ly. Considering that the angle of attack variable of the UAV is not easily measured, this paper also combined with reduced-order observ- er to get a quasi-command tracking augmented LQR. It not only has strong robustness and better tracking performance, a/so more con- venient for the applications of practical engineering. Finally, the obtained control law is used to make the simulation and experiment of ICE flying wing UAV. Through the contrastive analysis, the results show that the controller designed by the improved LQR method not only improve the longitudinal flight quality of flying wing UAV, at the same time, it has better control performance compared with output feedback linear quadratic tracking method and LQG/LTR method.
出处
《控制工程》
CSCD
北大核心
2014年第5期628-633,共6页
Control Engineering of China
基金
机器人学国家重点实验室开放基金(2012-O13)
关键词
飞翼式无人机
LQR
纵向姿态控制
阵风干扰
降维观测器
flying wing UAV
LQR
longitudinal attitude control
gust disturbance
dimension reduction observer
