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以某型无人机的数学模型为基础,提出了基于混合PID/H∞的无人机协调转弯控制律设计方法,分为纵向和横侧向分别进行控制律设计。纵向通道中,把高度保持控制律的设计转化为跟踪问题,再把跟踪问题转化为标准H∞控制处理,控制高度输出稳定不变;横侧向通道中,以H∞控制滚转角,实现内回路的设计,以PID控制偏航角速率和侧滑角,实现外回路的设计。通过仿真,将混合控制器与PID控制器的控制效果进行了对比。结果表明,所设计的控制器性能满足要求,且比PID控制器具有更好的控制效果。
Based on the mathematical model of a certain type of UAV, a control law design method for coordinated turn control based on hybrid PID / H∞ is proposed, which is divided into longitudinal and lateral control law design respectively. In the longitudinal channel, the design of height-keeping control law is transformed into tracking problem, and then the tracking problem is transformed into the standard H∞ control process to control the height output stable. In the lateral lateral channel, the roll angle is controlled by H∞, Circuit design, PID control of yaw rate and side slip angle, to achieve the design of the outer loop. Through simulation, the control effects of hybrid controller and PID controller are compared. The results show that the performance of the designed controller meets the requirements and has better control effects than the PID controller.