基于总能量的小型无人机纵向控制器研究  

Research on Longitudinal Controller of Energy-Based for small UAV

作　　者：李东武 孟浩 周毅 傅宁 LI Dong-wu;MENG Hao;ZHOU Yi;FU Ning(Tianjin Zhongwei Aerospace Data System Technology Co.,Ltd,Tianjin 300301,China;Tianjin Key Laboratory of Intelligent Information Processing in Remote Sensing,Tianjin 300301,China)

机构地区：[1]天津航天中为数据系统科技有限公司,天津300301 [2]天津市智能遥感信息处理技术企业重点实验室,天津300301

出　　处：《计算机仿真》2021年第7期55-58,375,共5页Computer Simulation

摘　　要：传统的无人机纵向控制系统需根据不同的飞行模态进行分段设计,设计过程繁琐,且控制器的切换增加了系统的不稳定性风险。以某小型无人机纵向控制系统为例,采用基于总能量的纵向控制器设计方法,设计了总能量控制系统;通过选取合适的飞行器参数和控制器参数,改善无人机的高度和速度控制性能;基于风洞数据搭建非线性仿真模型,与传统的SISO方法进行仿真对比分析,在仿真中分别加入50m的高度阶跃和5m/s的速度阶跃,结果表明,所设计的总能量控制系统能够较好地实现在不同飞行模态的高度和速度控制,具有满意的解耦特性和控制性能。The traditional longitudinal control system of UAV needs to be designed according to different flight modes. The design process is tedious, and the switching of controller increases system instability. Taking the longitudinal control system of a small UAV as an example, the total energy control system is designed by using the method based on total energy theory. The altitude and speed control performance can be improved by choosing appropriate parameters of aircraft and controller. Based on wind tunnel data, a non-linear simulation model is built, and 50 m altitude step and 5 m/s airspeed step are introduced in the simulation. The results show that, compared with the traditional SISO methods, the total energy control system can achieve better altitude and speed control effect in different flight modes, and has satisfactory decoupling characteristics and control performance.

关 键 词：总能量控制 无人机 解耦控制 

分 类 号：V271.4[航空宇航科学与技术—飞行器设计]