自旋翼无人机纵向解耦控制技术研究  

Research on Decoupling Strategy of Longitudinal Control of Autogyro UAV

作　　者：王震[1] 黄一敏[1] 王安航 WANG Zhen;HUANG Yimin;WANG Anhang(College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 211106,China)

机构地区：[1]南京航空航天大学自动化学院,江苏南京211106

出　　处：《机械制造与自动化》2024年第2期229-233,257,共6页Machine Building & Automation

摘　　要：针对对象自旋翼无人机,提出在干扰下如何实现解耦控制。由于对象无人机空中段飞行过程中对外界干扰十分敏感,很容易在干扰下激发高度和速度间的耦合,现有控制策略优先考虑了速度控制,而牺牲了高度控制性能,所以导致高度控制鲁棒性较差。针对此特性,提出升降速率指令内回路控制结构以增加系统对高度差的反应能力,并且在桨盘控制通道加入高度反馈以弥补油门控制的不足。通过仿真测试改进策略的解耦性能以及鲁棒性,验证了该策略是合理且可行的。For autogyro UAV,a strategy to realize decoupling control under interference is explored.Due to the great sensitivity of UAV to external interference in its flight,the coupling between altitude and speed tends to be easily stimulated under interference.The existing control strategies prioritize speed control at the sacrifice of altitude control performance,leading to poor robustness of altitude control.This paper,therefore,proposes an internal loop control structure of speed up and down command to increase the system's response to altitude difference,and height feedback is added to the propeller control channel to make up for the shortage throttle control.The test and simulation on the decoupling performance and robustness of the improved strategy are conducted,which verifies the reasonable ness and feasiblity the strategy.

关 键 词：自旋翼无人机 高度速度耦合 纵向控制策略 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]