摘要
针对无人机飞行参数及气动参数的不确定性问题,根据H∞理论,提出基于回路成形的无人机鲁棒控制器设计方法。以某小型无人机纵向控制系统为例,采用H∞回路成形设计方法,设计了俯仰角保持控制器;通过选取合适的预补偿器和后补偿器,改善系统奇异值曲线形状,应用小增益定理综合H∞鲁棒控制器,并得出鲁棒稳定裕度;进行数字仿真验证,在仿真中加入5m/s常值风干扰与20%气动参数摄动等不确定性因素,结果表明,闭环系统能在受到干扰后1.1s恢复到平衡状态,且阶跃响应最大调节时间为1.6s,最大超调量为2.4%,说明所设计的控制器具有满意的抗干扰能力和鲁棒稳定性。
In order to solve the problem of the uncertainty of UAV flight parameters and aerodynamic parameters, according to H∞ theory, a method to design UAV robust controller based on loop shaping was discussed. For case study of longitude control system for a small UAV, pitch attitude hold controller was designed using loop shaping design procedure. Selecting the appropriate pre-compensator and post --compensator to improve the singular value curve shape, a robust controller was synthesized and robust stability margin was derived from small gain theorem. The results of simulation which involves 5 m/s constant wind interference and 20% aerodynamic parameter perturbation uncertainties show that the closed loop system returns to equilibrium within 1.1 second after being disturbed and the maximal settle time is 1.6 second, the maximal overshoot is 2.4%, indicating that the anti--interference ability and robust stability of the controller are satisfactory.
出处
《计算机测量与控制》
CSCD
北大核心
2012年第12期3239-3242,共4页
Computer Measurement &Control
基金
中国科学院知识创新工程国防科技创新重要项目(YYYJ-1122)
