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控制律的设计直接影响无人机的飞行品质。针对无人机的要求,把飞行控制系统的纵向运动分为俯仰角速率、俯仰角和高度控制三个回路,采用最优控制器方法进行PID控制器设计,避免了经典控制理论中根轨迹法需要试凑的缺点。通过编写OCD程序并在Matlab中进行仿真,结果表明,所设计的无人机飞行控制器响应速度快、超调量小,效果有明显改善,飞行品质达到1级要求,并可大大节省设计时间,为进一步研究多输入多输出控制器提供了依据。
The design of the control law directly affects the flight quality of the UAV. According to the requirement of UAV, the vertical movement of flight control system is divided into three loops of pitch rate, pitch angle and height control. The optimal controller method is used to design PID controller, which avoids the need of root locus method in classical control theory Trial of the shortcomings. By programming OCD program and simulating it in Matlab, the results show that the designed UAV flight controller has the advantages of fast response, small overshoot and obvious improvement in flight quality. The flight quality meets the requirement of level 1, and the design time can be greatly saved , Which provides the basis for further research on multi-input multi-output controller.