无人机俯仰角程序调参控制律设计  

Gain-Schedule Control Law Design of UAV's Pitching Angle

作　　者：代冀阳[1] 杨兴廷[1] 吴剑[1,2] 

机构地区：[1]南昌航空大学信息工程学院,江西南昌330063 [2]中航工业洪都集团650所,江西南昌330024

出　　处：《计算机仿真》2013年第1期74-77,158,共5页Computer Simulation

基　　金：国家自然科学基金(61164015);航空基金(2011ZA56021)

摘　　要：研究无人机控制器优化设计问题,针对固定参数控制器难以满足无人机大包线飞行品质的问题,用程序调参的思想设计了某型无人机俯仰角的控制系统。首先建立无人机小扰动化线性模型,再利用根轨迹法,设计了无人机平衡点处的俯仰角局部控制器,得到了程序调参增益调度表,最后利用三次样条插值法拟合出了调参曲面,可实现无人机俯仰角的全局程序调参控制,并使无人机达到了一级飞行品质标准。利用Simulink软件进行仿真的结果表明,所设计的程序调参控制律合理有效,控制系统在整个飞行包线内都具有良好的动态响应性能,证明改进方法具有一定的工程应用价值。Aiming at the problem that fixed parameter cannot satisfy UAV＇ s handling qualities requirements in large envelope, the pitching angle control system was designed based on the thought of gain-schedule. Firstly, the UAV＇ s model was linearized under the small disturbance. Secondly, the UAV＇ s pitching angle controllers in each e- quilibrium point were designed using root locus method and the gain-schedule table was obtained. Then, the gain- schedule surface was designed by cubic spline interpolation. At the last, the UAV＇ s pitching angle gain-schedule control law was realized, and the level 1 handling qualities requirements were satisfied. Simulation results show that the gain-schedule control law is effect, and the fight control system has good performance in the whole envelope. The integral analysis suggests that the method has some values in engineering applications.

关 键 词：程序调参 俯仰角 无人机 根轨迹 大包线 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] V294.1[自动化与计算机技术—控制科学与工程]