无人机俯仰角增益调参控制律设计  

The Gain Schedule Control Law's Design of a UAV's Pitching Angle

作　　者：王波[1] 

机构地区：[1]张家界航空工业职业技术学院航空维修工程系,湖南张家界427000

出　　处：《电子测试》2014年第9期24-26,共3页Electronic Test

摘　　要：针对传统增益调参控制系统设计过程中离线工作量大的问题,研究设计了无人机俯仰角增益调参控制系统。首先对无人机模型进行线性化和简化处理,得到俯仰角系统模型;其次针对不同特征点处的子模型,利用根轨迹法设计得到阻尼器,利用Ziegler-Nichols以及Signal Constraint方法整定得到PID参数,得到增益调度表;然后利用sftool工具箱生成全局控制器;最后对得到的无人机俯仰角控制系统进行仿真。仿真结果表明,所设计的无人机俯仰角控制系统在全局范围内具有良好的动态响应性能。Aiming to the problem that the design process of traditional gain-scheduling control system is a big workload, the pitching angle control system was designed based on the thought of gain-scheduling. Firstly, the UAV＇ s model was linearized and simplified;secondly, the UAV＇ s pitching angle dampers in each equilibrium point were designed using root locus method, meanwhile, the PID controllers were designed by using Ziegler-Nicbols and Signal Constraint, then the gain-scheduling table was got;third, the global controller was realized by sftool;at the last, simulation results show the gain-scheduling control system was effect, and the fight control system has good dynamic performance in the whole envelope.

关 键 词：增益调参 无人机 根轨迹 ZIEGLER-NICHOLS Signal CONSTRAINT 

分 类 号：V279[航空宇航科学与技术—飞行器设计] V249