摘要
设计了一种结合PIDA控制及逆控制的多无人机编队飞行控制器。分析了多无人机编队飞行中飞行耦合气流的估计范围,针对个体无人机的轨迹控制模型讨论了其飞行控制器需求,结合逆控制的解耦性能和PIDA控制器低模型依赖、简单结构、快速性等优点,设计了一种PIDA+逆的飞行控制器,最后,以控制器输出约束、飞行气动力参数变化以及气动耦合扰动为指标对PID控制和PIDA+逆控制的控制效果进行了对比仿真,仿真结果表明,PIDA+逆控制能够有效的抑制模型参数不确定性带来的影响,并且在控制器输出约束条件下仍能保持较好的动态性、准确性和鲁棒性。
A PIDA plus inversion flight controller for in multiple unmanned aerial vehicle formation.was designed. Bound of airflow coupling influence in multiple formation was Estimated, requirements of flight controller using in single track control was discussed, a PIDA plus inversion flight controller was designed by using inversion control＇s uncoupling profit and PID control＇s low model dependence and simple structure characters, PID controller and PIDA plus inversion controller＇s Control effect when in situation of control output constraint, flight parameter variation and aerodynamic coupling perturbation had been compared, the simulate examples illustrate that PIDA plus inversion controller can effectively suppresses influences bring by variation parameter, and it can maintain dynamic property, accurate performance and robust performance when face to control output constraint problem.
出处
《系统仿真学报》
CAS
CSCD
北大核心
2009年第19期6221-6224,6238,共5页
Journal of System Simulation
