固定翼飞行器扩展PID型SO(3)姿态控制器设计  

Design of an extended PID SO(3)attitude controller for fixed-wing aircraft

作　　者：李静 欧阳涵 袁胜智 查子龙 李海燕 LI Jing;OUYANG Han;YUAN Shengzhi;ZHA Zilong;LI Haiyan(College of Weaponry Engineering,Naval Univ.of Engineering,Wuhan 430033,China)

机构地区：[1]海军工程大学兵器工程学院,武汉430033

出　　处：《海军工程大学学报》2024年第3期33-37,共5页Journal of Naval University of Engineering

基　　金：国家自然科学基金资助项目(61433011)。

摘　　要：针对固定翼飞行器的SO(3)姿态控制系统建模及PID型控制器设计问题,首先通过分析推导建立了固定翼飞行器SO(3)姿态控制模型;然后,针对存在不确定干扰的固定翼飞行器SO(3)姿态控制模型,在充分考虑工程实践的前提下,设计了一种扩展PID型固定翼飞行器SO(3)姿态控制器,该控制器在传统PID控制项的基础上引入补偿控制项,使系统具有更好的性能;最后,通过Lyapunov稳定性分析,证明了系统几乎是全局渐进稳定的。仿真结果表明:所设计的扩展PID型控制器具有优异的控制性能,且对外部干扰具有良好的鲁棒性。The modeling of fixed-wing aircraft SO(3)attitude control system and the design of corresponding PID controller were studied.Firstly,the fixed-wing aircraft SO(3)attitude control model was established by analysis and derivation.Then,for the fixed-wing aircraft SO(3)attitude control model with uncertainties,an extended PID fixed-wing aircraft SO(3)attitude controller was designed in full consideration of engineering practice.Besides the traditional PID control terms,several compensation control terms were introduced to obtain better performance.Finally,it was proved that the system is almost globally asymptotically stable by Lyapunov stability analysis.The simulation results show that the designed extended PID controller has excellent control performance and good robustness to external disturbances.

关 键 词：固定翼飞行器 SO(3) 姿态控制 PID控制器 

分 类 号：TJ765.2[兵器科学与技术—武器系统与运用工程]