无人机俯仰通道自适应滑模控制器设计  

The UAV pitch channel adaptive sliding mode control design

作　　者：韩慧超 史震[1] 马文桥[1] 

机构地区：[1]哈尔滨工程大学自动化学院,哈尔滨150001

出　　处：《战术导弹控制技术》2012年第4期17-20,共4页

摘　　要：无人机飞行的范围广泛、复杂，不可能得到精确的无人机数学模型，所以，将滑模变结构控制应用于无人机的飞行控制。但由于滑模变结构控制系统容易产生抖振，又提出了无人机俯仰通道的自适应滑模控制策略。自适应滑模控制不依赖于具体的数学模型，有很好的抗摄动能力，并且削弱了滑模控制产生的抖振，使无人机具有良好的性能。仿真结果表明，采用了自适应滑模控制方法的无人机飞行控制系统具有较好的鲁棒性。The UAV envelope was wide and complex, it was impossible to obtain an accurate mathematical model. So the sliding mode variable structure control applied to the UAV flight control. But, due to the sliding mode variable structure control system prone to produce chattering, a tactics of adaptive sliding mode control was given in the UAV pitch channel control system. Adaptive sliding mode control did not depend on the specific mathematical model and it had a good anti - perturbation ability and reduced chattering which is produced by sliding mode control system, so the UAV had a good per- formance. Simulation results showed that the UAV control system had a better robust property when using a adaptive sliding mode control method.

关 键 词：无人机 俯仰通道 自适应 滑模 

分 类 号：TP229[自动化与计算机技术—检测技术与自动化装置]