基于LQR的无人机增稳控制系统设计及仿真  

Augmented-stability controller design and its simulation for a UAV based on LQR theory

作　　者：邢小军[1] 闫建国[1] 袁冬莉[1] 

机构地区：[1]西北工业大学自动化学院,陕西西安710072

出　　处：《飞行力学》2011年第5期54-56,65,共4页Flight Dynamics

基　　金：国家自然科学基金资助(60974146);西北工业大学基础研究基金资助(NPU-FFR-JC20100216)

摘　　要：为解决小型无人机易受大气紊流干扰、飞行稳定性较差等问题,根据固定翼飞机GJB185-86及C*规范要求,应用鲁棒性较强的LQR理论设计了无人机纵向增稳控制器,以使其飞行品质满足相关规范要求。仿真结果表明,所设计的增稳控制系统不仅提高了无人机飞行的稳定性,还有效改善了其动态响应和鲁棒性。In order to overcome the defect that unmanned air vehicles（UAVs） are easily disturbed by air current and tend to be unstable,an augmented-stability controller was developed for a certain UAV＇s longitudinal motion based on linear quadratic regulator（LQR） theory according to flight qualities specifications of GJB185-86 and C＊.The simulation results show that the augmented-stability controller not only improves the UAV＇s stability and dynamic characteristics but also enhances the UAV＇s robustness.

关 键 词：无人机 线性二次型调节器 增稳控制 

分 类 号：V279[航空宇航科学与技术—飞行器设计] V249.122