摘要
研究了μ综合控制方法在无人机纵向控制律设计中的应用。建立了无人机纵向运动的小扰动方程,选取广义状态变量建立了系统广义被控对象,在Matlab中用基于D-K迭代方法求解反馈控制器,并进行了数字仿真验证。以无人机纵向运动中俯仰控制通道的等俯仰角爬升模态为例,给出了设计过程和结果,并与PID控制器的控制效果进行比较,表明μ综合控制有更好的控制效果,有效地解决了PID控制器设计中某些性能指标相互矛盾的问题。
The application of the μ synthesis method in UAV＇s portrait controller design was studied. The little perturbation equation of portrait motion was built, by choosing suitable state variables generalized plant was built too. The feedback controller was designed based on D -K iteration in matlab, digital simulation was carried out for validation. Taking fixed pitch climbing of pitch channel in UAV＇s portrait as example, the design process and result were given. Compared with PID controller, the μ synthesis had a better effect and solved the problem of contradictions between some characteristics in PID controller.
出处
《机电一体化》
2011年第1期83-87,共5页
Mechatronics
