基于鲁棒最优方法的无人机动态投影控制  

UAV dynamic projective control method based on robust and optimal theories

作　　者：朱熠[1] 陈欣[1] 李春涛[1] 杨艺[1] 

机构地区：[1]南京航空航天大学自动化学院,江苏南京210016

出　　处：《系统工程与电子技术》2015年第9期2088-2095,共8页Systems Engineering and Electronics

基　　金：航空科学基金(20125852057);江苏省普通高校研究生科研创新计划(CXLX12_0159)资助课题

摘　　要：以某型大展弦比无人机为研究对象,设计了基于鲁棒最优理论和动态投影方法的补偿控制器。首先采用鲁棒伺服线性二次型调节器方法,通过全状态反馈构建满足最优性能指标的参考系统,然后采用输出反馈和动态补偿器替代全状态反馈,重构出具备参考系统全部最优特征结构的动态投影控制系统。重点阐述了通过动态投影控制方法进行系统极点配置的具体步骤,并分析了动态补偿器的自由矩阵参数对系统稳定性的影响。仿真结果表明,与常规比例-积分-微分控制方法相比,所设计的动态投影控制系统具有更强的稳定性与更好的瞬态响应特性。A control method for a unmanned aerial vehicle having large aspect ratio is proposed. A compen- sative controller is designed based on dynamic projective control method and robust optimal theories. Firstly, a closed loop system of robust servomechanism linear quadratic regulator method is obtained by state feedback which is considered as a reference system. Then a method of dynamic projective control is adopted to reconstruct the whole characteristic structure of the reference system by output feedback and a dynamic compensator. The concrete steps of the pole placement by dynamic projective control method are expounded. Also, the influence of var ying the free matrix of dynamic compensator is discussed. The result of simulation shows that the designed control system has remarkable transient performance and stability which is much better than ordinary control method.

关 键 词：无人机控制 动态补偿器 鲁棒最优控制 投影控制 

分 类 号：V249[航空宇航科学与技术—飞行器设计]