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为了改善在数据链时延情况下察打无人机的性能,对造成时延的因素及影响进行了分析,在此基础上对数据链时延进行了合理的假设和简化。并对无人机整个控制回路的各个节点的响应方式,提出了一种时间-事件-事件-时间驱动方式,使得无人机数据链的时延序列具有Markov性,同时给出了状态转移矩阵的求取方法。为了改善无人机的响应特性,采用最优控制的方法对时延进行了补偿,并基于某无人机平台验证了补偿方法的有效性。仿真结果表明,该方法的引入使得无人机的动态响应特性有了显著提高。
In order to improve the performance of UAV under the condition of data link delay, the factors and the impact of delay are analyzed. Based on this, reasonable assumption and simplification of data link delay are carried out. A time-event-event-time-driven approach to the response of each node in the entire control loop of the UAV is proposed. The time delay sequence of the UAV has Markov property and the state transition matrix The method of obtaining. In order to improve the response characteristics of the UAV, the optimal control method is used to compensate the delay, and the effectiveness of the compensation method is verified based on the UAV platform. The simulation results show that the introduction of this method has greatly improved the UAV’s dynamic response.