摘要
为解决无人机飞行过程中由于外界干扰及被控对象模型摄动引起的系统不确定性问题,提出了一种易于工程实现的鲁棒H∞自动驾驶仪设计方法.建立了描述无人机运动的线性化模型,选取权函数并构造了广义被控对象,利用鲁棒H∞理论进行了控制器设计.考虑到硬件实现,对鲁棒H∞控制器进行了模型降阶和离散化,并将离散的控制器代码植入自动驾驶仪的DSP芯片中.半物理仿真结果表明,无人机在自动驾驶仪作用下可以准确跟踪参考信号,各项运动参数满足设计指标,鲁棒H∞控制器可应用于无人机飞行控制系统.
A method was proposed for a robust H~ autopilot to make the UAV controller easy to apply and able to handle its performance degeneration due to uncertainties caused by parameter variation and external disturbance. Firstly, a linear UAV model was developed to depict the UAV movement, a state space expression was formed, a generalized controlled object was set up and a controller was designed based on robust H∞ theory. Then, a series of systematic test was taken for the developed controller, the controller model was discretized and reorganized for the hardware condition, and the control C code was imbed into microprocessor to execute real time simulation. The semi-physics simulation results indicate that, the UAV with autopilot can track a reference signal exactly, the movement parameters suit for the design specification, the robust H∞ autopilot can be used for the UAV controller.
出处
《北京理工大学学报》
EI
CAS
CSCD
北大核心
2016年第8期807-812,共6页
Transactions of Beijing Institute of Technology
基金
国际合作项目(The Engineering and Physical Sciences Research Council
UK(EP/F037570/1))
关键词
鲁棒H∞控制器
无人机
自动驾驶仪
robust H∞ controller
unmanned aerial vehicle （UAV） ~ autopilot
