无人机全包线纵向控制回路校正网络设计

Design of Corrective Network for Full Envelope Longitudinal Control Loop of a Modified UAV

为保证无人机飞行安全,实现无人机在全包线各个控制回路的稳定裕度均满足国军标要求,针对改型无人机部分状态点纵向控制回路稳定储备不足的问题,依据超前校正、滞后校正及超前滞后校正的特点,结合典型状态点的幅相频特性,选取基于超前滞后校正的方案,设计合适的校正网络。在Matlab/Simulink环境中进行全包线仿真验证。结果表明,原稳定储备不足的点在加入校正网络后得到了很大提升。在半实物仿真系统中,验证了各控制回路的稳定储备均满足国军标的要求,说明了所设计校正网络的有效性。

To ensure that the stability margin of UAV in all control loops of the full envelop meets the requirements of the national military standard,in this paper,the problem that the longitudinal loop stability reserve of a modified UAV is insufficient at some status points is considered.Firstly,according to the correction characteristics of leading network,lagging network and leading lagging network,and in combination with the amplitude phase frequency characteristics of typical status points,the correction scheme based on the leading lagging correction network is selected.Secondly,the stability reserve of longitudinal loops in the full envelop was verified in Maltab∕simulink.The results show that the stability reserve of the points with insufficient stability reserve are greatly improved after being added to the designed corrective network.Finally,the stability reserve in each longitudinal control loop is given with the hardware in loop simulation system.The result shows that the stability reserve of each control loop meets the requirements of the national military standard,and the corrective network designed is effective.