摘要
根据飞翼无人机特殊外形布局、气动性能及控制品质要求,在风扰动存在情况下,针对系统纵向俯仰通道和横侧向滚转通道,设计了基于鲁棒最优理论的静态投影控制器。分析了投影控制方法的一般原理,建立了飞行控制系统的鲁棒伺服模型,应用最优线性二次型调节器(LQR)方法构成鲁棒伺服LQR控制,并以闭环系统为参考系统,通过静态投影法则以输出反馈重构参考系统主体特征结构,避免了LQR方法中部分反馈变量无法精确测量的问题。仿真过程中对比验证了风扰动下常规PID姿态驾驶仪和静态投影方法的控制效果。仿真结果表明,所设计的静态投影控制系统响应速度快,且具有较强的稳定性和抗风扰动能力。
According to the unusual conformation and aerodynamic characteristic of flying-wing UAV,as well as the requirement of control quality,a static projective control system is designed based on robust and optimal theories considering wind disturbance. Both pitch loop of longitudinal motion and bank loop of lateral motion are taken into account with projective controllers. The general principles of projective control are analyzed. Then the robust-servo model is established and an optimal closed loop system is obtained by LQR state feedback method. The eigenvalues and eigenvectors of closed loop system are treated as a reference structure for static projective control. The aim of adopting static projective control is rebuilding the reference structure by output feedback as a substitute for LQR state feedback. The output feedback is used to ensure the measurability of the variables in engineering application. The final simulation acts as a comparison of PID attitude autopilot and static projective controller with three kinds of wind disturbance. The result shows that the designed system has excellent transient performance and satisfactory anti-disturbance ability.
出处
《兵工学报》
EI
CAS
CSCD
北大核心
2015年第7期1237-1246,共10页
Acta Armamentarii
基金
航空科学基金项目(20125852057)
