基于积分器初值的无人机飞行控制律平滑切换方法

Smoothing Switching Method of UAV Flight Control Law Based on Integrator Initial Value

针对无人机自主飞行过程中多组复杂控制律之间的切换问题,提出了基于积分器初值的控制律平滑切换方法。通过将复杂控制律的各个环节进行形式变换,拆分成由比例和积分组成的基本单元结构;然后以舵面平滑切换为目标,依次递推出复杂控制律中所有积分器的初值,实现不同控制律之间的平滑切换。仿真验证了复杂飞行控制律之间平滑切换方法的有效性。

In order to solve the switching problem between multiple complex control laws during the autonomous flight of Unmanned Aerial Vehicle(UAV),a smoothing switching method is proposed to obtain the integrator initial value.Firstly,all links of complex control laws are transformed and split into basic units of proportion and integral.Secondly,all integrator initial values of complex control laws are calculated to achieve the goal of smooth switching between different control laws.Simulation results verify that the smooth switching method of complex flight control laws is effective.