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针对复杂气流扰动对无人机(UAV)航迹高度控制的影响,对存在复杂气流扰动下的定高控制策略、控制结构和控制器参数优化展开研究,实现高精度高度控制。基于线性自抗扰控制(LADRC)确定总体控制架构,设计扩张状态观测器(ESO)观测估计纵向高度通道和速度通道中存在的总扰动,在控制中引入扰动补偿,减小扰动对系统输出造成的影响。对UAV在飞行过程中存在的大气紊流扰动或离散突风等风干扰分析其功率谱密度,构造考虑风扰动对高度影响、时域响应特性和稳定裕度的综合目标函数,通过粒子群优化算法得到具有高精度、高抗干扰性能的控制器参数,优化中考虑风干扰的功率谱密度分布,减小了控制器参数设计的保守性。通过与常规比例-积分-微分(PID)控制器控制效果进行对比,说明基于线性自抗扰控制器的纵向高度控制的优异性能。
Aiming at the effect of complex airflow disturbance on UAV trajectory height control, the research on height control strategy, control structure and controller parameter optimization with complex airflow disturbances are studied to achieve high precision and high degree of control. The overall control architecture is determined based on the LADRC. The extended state observer (ESO) is designed to estimate the total disturbance existing in the longitudinal height and velocity channels. The disturbance compensation is introduced into the control to reduce the disturbance caused by the system output Impact. The power spectral density of atmospheric turbulence perturbation or discrete gusting air disturbance existed in UAV during flight was analyzed and a comprehensive objective function considering the influence of wind disturbance on height, time domain response characteristic and stability margin was constructed. Through particle swarm optimization The algorithm obtains the controller parameters with high precision and high anti-jamming performance. The power spectral density distribution considering wind disturbance is optimized, which reduces the conservativeness of the controller parameter design. The performance of vertical height control based on linear ADR controller is demonstrated by comparing with the conventional proportional-integral-derivative (PID) controller.