跟踪微分器在某无人机定高控制律设计中的应用

Tracking-Differentiator for an UAV's Altitude-Holding Control Law Design

首先论述了某型无人机本体特性和所用传感器精度。基于一个飞行试验平台,重点讨论用PD控制和跟踪微分器进行纵向定高控制律设计,分析比较了用这两种控制律设计的高度保持响应特性。研究表明,应用跟踪微分器设计定高控制律,高度稳态精度好、响应时间快。

This paper firstly presented the characters of an UAV and the precision of the sensors applied on this UAV. Based on a flight test platform, PD control and TD were primarily discussed for altitude holding control law design, and the altitude-holding response characters resulting from both of the two different methods were analyzed and compared. The study shows that utilizing the TD, altitude stable precision is relatively better and the response time is relatively faster.