无人机简化配置控制技术研究

Minimum-Sensor Flight Control System for UAV

提出了一种仅采用垂直陀螺和 GPS的简化配置控制方案 ,形成了无人机飞行控制系统常用的俯仰 /滚转控制回路、高度控制回路和航迹控制回路。由于 GPS信号更新率 (1 Hz)较低 ,利用无人机运动学之间的内在关系 ,给出了高度、航向、位置反馈信号的融合算法。这些反馈回路的控制增益均采用改进的输出反馈 LQR设计技术 ,该技术简化了权矩阵的选择。对比研究表明 ,对于自身稳定性较好的无人机 ,该简化配置方案能够实现姿态控制、高度控制和航迹控制。

An idea of minimum-sensor control methodology is prop os ed. The flight control system is based on vertical gyro and GPS only compared w ith traditional sensor configuration. Practical control structures for pitch/ro ll hold loop, altitude hold loop, trajectory tracking loop are individually desi gned based on inner/outer loop structure. For pitch/roll hold loop design, a p hase-lead network is introduced to provide necessary phase margin. Because of t he low refresh rate (1 Hz) of GPS signals, a data fusion algorithm is developed with the inherent kinetic relationship to improve dynamic characteristics of alt itude, heading and position signals. The altitude hold loop and trajectory track ing loop are designed according to the modified feedback signals. All the contro l gains for each loop are designed by the modified output LQR theory, which simp lify the selection of weighting matrix and can directly design the track problem for flight control system with a specified output feedback control structure. T he comparative study shows the effectiveness of the proposed minimum-sensor tec hnique on the typical unmanned aviation vehicle (UAV).