基于奇异摄动法的固定翼无人机优化PID控制  

Optimize PID control of fixed-wing UAV based on singular perturbation method

作　　者：朱涵智 梅平[1,2] 刘云平 赵中原[1,2] 张婷婷 ZHU Hanzhi;MEI Ping;LIU Yunping;ZHAO Zhongyuan;ZHANG Tingting(School of Automation,Nanjing University of Informantion Science and Technology,Nanjing 210044;College of Command and Control Engineering,Army Engineering University of PLA,Nanjing 210017)

机构地区：[1]南京信息工程大学自动化学院,南京210044 [2]陆军工程大学指挥控制工程学院,南京210017

出　　处：《高技术通讯》2022年第6期647-654,共8页Chinese High Technology Letters

基　　金：国家自然科学基金(51875293);江苏省自然科学基金青年基金(BK20200824)资助项目。

摘　　要：为了提高固定翼无人机(UAV)飞行控制的精准性与响应速度,降低因固定翼非线性系统耦合而造成的控制误差,提出了基于奇异摄动分解的固定翼无人机动力学建模及控制方法。首先对固定翼无人机的速度和姿态进行动力学建模,采用小扰动理论将非线性模型线性化。对于线性化处理后的固定翼无人机动力学模型,将速度、角度作为慢变量,角速度作为快变量,转换为奇异摄动模型,再对奇异摄动模型进行快慢分解,得到两个降阶子系统,即以线速度、角度为状态变量的慢子系统和以角速度为快变量的快子系统。分别对快、慢子系统设计比例积分微分(PID)控制器,最后,用Simulink仿真验证了基于快、慢分解的优化PID方法的可行性以及有效性。In order to improve the accuracy and response speed of fixed-wing unmanned aerial vehicle(UAV)and reduce the control error caused by the nonlinear system coupling,this paper proposes a dynamic modeling and control method for fixed-wing UAVs based on singular perturbation.First,the velocity and posture of the fixed-wing UAV are modeled,and the nonlinear model is linearized by using the small perturbation theory.Then the model is transformed into singularly perturbed model with linear velocity and posture as slow varables and angular velocity as fast varables.To get two subsystens,the singularly perturbed model should be decomposed into the slow subsystem with linear velocity angle as the state variable and the fast subsystem with angular velocity as the fast variable.The proportional integral derivative(PID)controls of the fast and slow subsystems are designed respectively.Finally,the feasibility and effectiveness of the PID optimization method based on fast and slow decomposition are verified by Simulink simulation.

关 键 词：固定翼无人机(UAV) 奇异摄动法 比例积分微分(PID)控制 动力学建模 小扰动理论 

分 类 号：V279[航空宇航科学与技术—飞行器设计] V249.1