某无人机纵向控制律的最优控制器设计及仿真  

Optimal controller design and simulation of longitudinal control laws of an unmanned aerial vehicle

作　　者：王琦[1] 钟斌[2] 李亮[2] 徐百仪[2] 

机构地区：[1]南昌航空大学飞行器工程学院,江西南昌330063 [2]南昌航空大学信息工程学院,江西南昌330063

出　　处：《飞行力学》2013年第1期45-48,共4页Flight Dynamics

基　　金：航空科学基金资助(2010ZA56003);江西省自然科学基金资助(2009GZC0101)

摘　　要：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。Design of control law directly affects UAV＇ s （ unmanned air vehicle） flight quality, to meet UAV＇s requirement, the longitudinal movement of flight control system divided into pitch angular rate loop, pitch angle loop and height control loop, the optimal controller design method for PID controller, by using the OCD（ optimal controller designer） method for regulating PID controller, avoiding the trial of root locus of the classical control theory. Through tuning OCD program to achieve simulation in Matlab, the results show that the UAV flight controller＇ s performance is obviously improved, which is of fast re- sponse and small overshoot, and the flying quality meets the requirements for level 1. The design method can greatly save the valuable time of designers and provide a basis for the further research of the control law of multiple input multiple output controller.

关 键 词：最优控制器 控制律 无人机 纵向 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计]