无人飞艇纵向L1自适应控制  

Longitudinal Adaptive Control of Unmanned Airship

作　　者：黄金 陈纪旸 霍江航 马晓静[1] HUANG Jin;CHEN Ji-yang;HUO Jiang-hang;MA Xiao-jing(Institute of Marine Science and Technology,Shandong University,Qingdao Shandong 266200,China;Shandong Zhengzhong Information Technology Co.,Ltd,Jinan Shandong 250014,China)

机构地区：[1]山东大学海洋研究院,山东青岛266200 [2]山东正中信息技术股份有限公司,山东济南250014

出　　处：《计算机仿真》2023年第9期1-6,255,共7页Computer Simulation

基　　金：国家重点研发计划项目(2017YFB0404201)。

摘　　要：针对无人飞艇纵向控制中外部扰动和模型参数摄动的问题,提出了一种基于L1自适应纵向控制的设计方法。首先建立基于飞艇受力的飞行运动学模型,然后以该模型作为被控对象,设计了一种L1自适应状态反馈控制器,搭建了无人飞艇的俯仰及高度控制回路。在两个控制回路中分别给定不同类型的输入信号并加入干扰,将其与传统PID控制效果进行对比;同时考虑到模型不确定性,改变被控模型参数,分析了飞艇参数变化对控制系统的影响。仿真结果表明,在外界干扰和参数摄动下,无人飞艇均可以实现稳定。证明了L1自适应控制器抗扰效果良好,具有很好的鲁棒性。Aiming at the problem of external disturbance and model parameter perturbation in the longitudinal control of unmanned airship,a design method based on L1 adaptive longitudinal control is proposed in this paper.Firstly,the flight kinematics model based on the force of the airship was established,and then taking the model as the controlled object,an L1 adaptive state feedback controller was designed,and the pitch and altitude control loops of the unmanned airship were built.Different types of input signals were given in the two control loops,and interference was added to compare the effect with the traditional PID control.At the same time,considering the model uncertainty,the controlled model parameters were changed,and the influence of airship parameters on the control system was analyzed.The simulation results show that the unmanned airship can achieve stability under external interference and parameter perturbation.It is proved that the Ll adaptive controller has good anti-interference effect and good robustness.

关 键 词：无人飞艇 纵向控制 自适应 鲁棒性 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]