基于最优LQR单人飞行器高度控制  

Altitude control of single person aircraft based on optimal LQR

作　　者：时伟 包建东 Shi Wei;Bao Jiandong(School of Automation,Nanjing University of Science and Technology,Nanjing 210094,China)

机构地区：[1]南京理工大学自动化学院,南京210094

出　　处：《国外电子测量技术》2024年第11期153-159,共7页Foreign Electronic Measurement Technology

摘　　要：针对单人飞行器的空中高度控制,基于其空中机动灵活的特点,对比传统的比例积分微分(PID)控制,提出最优线性二次调节器(LQR)算法实现稳定高效的的控制,同时优化系统能量使用效率。首先推导并建立了飞行器动力学和运动学的数学模型,以此建立全数字化的Simulink仿真模型,结合线性化分析设计控制器。然后通过设计非零稳态LQR算法,进行了飞行器的高度控制仿真,对比不同的控制输入权重下的控制效果。结果表明,LQR能够实现平滑稳定控制,能耗控制方面,输入权重R=1条件下,峰值控制输入仅为稳态的1.5倍,相比普通控制权重下的峰值输入降低了40%多,达到了预期的效果。For the aerial altitude control of single person aircraft,based on its flexible aerial maneuverability,compared with traditional PID control,the optimal LQR algorithm is proposed to achieve stable and efficient control,while optimizing the energy utilization efficiency of the system.Firstly,the mathematical models of aircraft dynamics and kinematics were derived and established,and a fully digital Simulink simulation model was established based on this,combined with linear analysis to design the controller.Then,by designing a non-zero steady-state LQR algorithm,altitude control simulations of the aircraft were conducted to compare the control effects under different control input weights.The results show that LQR can achieve smooth and stable control.In terms of energy consumption control,under the condition of input weight R=1,the peak control input is only 1.5 times that of the steady state,which is more than 40%lower than the peak input under ordinary control weight,achieving the expected effect.

关 键 词：单人飞行器 高度控制 SIMULINK LQR 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计] TN99[电子电信—信号与信息处理]