摘要
研究了H∞状态反馈方法在无人机纵向控制律设计中的应用。建立了无人机纵向运动的小扰动方程,适当地选取广义状态变量建立了系统广义被控对象,在matlab中用基于线性矩阵不等式(LMI)的求解方法设计了系统H∞状态反馈控制器,并进行了数字仿真验证。以无人机纵向运动中俯仰控制通道的等俯仰角爬升模态为例,给出了设计过程和结果,并与PID控制器的控制效果进行比较,表明H∞控制器有更好的控制效果,它可以兼顾系统响应的动态和稳态性能,有效地解决了PID控制器设计中某些性能指标相互矛盾的问题。
The application of the H∞ State feedback method in UAV＇s portrait controller design was studied.The UAV＇s little perturbation equation of portrait motion was built,portrait motion＇s generalized plant was built by choosing suitable generalized state variables,and H∞ state feedback controller was designed using linear matrix inequality（LMI） method in matlab.Digital simulation was carried out for validation.Taking fixed pitch climbing of pitch control channel in UAV＇s portrait motion as example,the design process and result were given,and by comparing with the PID controller,it indicated that the H∞ controller had better effect,both the dynamic and stable characteristics were considered,and the problem of the contradiction between some characteristics in the PID controller＇s design was solved effectively.
出处
《计算机仿真》
CSCD
2008年第7期8-11,共4页
Computer Simulation
