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为了提高无人机在风干扰下的起飞安全性,对无人机常规起飞纵向控制方案加以改进,提出了基于直接升力控制的安全起飞纵向控制方案.采用由低通滤波器和超前补偿通道组成的组合滤波方案,用以解决所提出控制方案中无人机升降速度信号的精确获取问题,通过所研制的专用升降测试台和基于频谱分析的设计方法,对组合滤波方案进行了参数选取和仿真验证.基于Matlab/Simulink仿真环境建立某型无人机的全量非线性数学模型,通过仿真设计相应的襟翼偏转控制律.仿真结果表明,应用组合滤波方案获取的升降速度信号精度较高,满足起飞控制的使用要求.安全起飞纵向控制方案可显著增强无人机的抗干扰能力,从而提高起飞过程的安全性.
In order to improve the take-off safety of UAV under wind disturbance, the vertical control scheme of conventional takeoff of UAV is improved, and a longitudinal control scheme of safety takeoff based on direct lift control is proposed. The low-pass filter and advanced compensation channel Which is used to solve the precise acquisition of UAV signal in the proposed control scheme. Through the developed special test platform and the design method based on spectrum analysis, the parameters of the combined filtering scheme are selected and simulated The mathematic model of a certain UAV is established based on the Matlab / Simulink simulation environment, and the corresponding flap deflection control law is designed through simulation.The simulation results show that the accuracy of the ascending and descending velocity signals obtained by the combined filtering scheme is high, Takeoff control requirements for use Safety takeoff longitudinal control programs can significantly enhance the anti-jamming capability of the UAV, thereby enhancing the safety of the take-off process.