论文部分内容阅读
为了解决无人机在飞行过程中存在高空风切变和大气紊流干扰等因素,致使其稳定性难以控制的问题,因此需要组建高抗风能力无人机飞行稳定性控制模型。但是当前的模型无法依据无人机不同的飞行环境选取当前合适的控制器,存在控制鲁棒性差的问题。为此,提出一种基于线性二次型调节器LQR的高抗风能力无人机飞行稳定性控制模型。首先给出当前无人机飞行稳定性控制状态空间形式,计算出操纵期望参数,融合于线性二次输出反馈原理对无人机飞行稳定性控制系统进行内回路控制器的设计,得到控制系统内回路闭环特性,给出无人机飞行环境和大倾角变化率,其次当滚转角或俯仰角的值超过临界值时,设计出反步法控制器。利用上述控制器组建高抗风能力无人机飞行稳定性控制模型。仿真结果表明,所提模型控制精确度高,满足了无人机飞行稳定性控制的实时性和鲁棒性要求。
In order to solve the UAV in the flight there are high-altitude wind shear and atmospheric turbulence interference and other factors, making it difficult to control the stability of the problem, it is necessary to set up high wind resistance UAV flight stability control model. However, the current model can not select the current suitable controller based on the different flight environments of the UAV, so the problem of poor control robustness exists. Therefore, a control model of flight stability of UAV with high wind-resistance based on linear quadratic regulator LQR is proposed. Firstly, the current UAV flight stability control state space form is given, and the manipulated expectation parameters are calculated, and the linear quadratic output feedback principle is integrated into the UAV flight stability control system design of the inner loop controller. Loop closed-loop characteristics of the UAV flight environment and a large rate of change of inclination, and secondly when the roll angle or pitch angle value exceeds the critical value, the design of the anti-step controller. Using the above controller to build a high wind resistance UAV flight stability control model. The simulation results show that the proposed model has high control accuracy and meets the real-time and robustness requirements of UAV flight stability control.