基于序列二次规划算法的控制律寻优设计

Optimal Design of Control Law based on SQP

针对某型无人机设计的纵向控制系统,运用经典控制器设计,然后通过参数优化而进行时域自动调节控制律参数的方法设计控制律,优化算法采用序列二次规划法。自动调参的过程是直观可视的。仿真结果表明运用该方法所设计出的控制律满足飞行品质要求,比传统的人工调节控制器参数效果更好,并提高了工作效率。这种方法可以应用于其他控制对象。

In the course of longitudinal control law design of an UAV,the classical controllers were designed. The parameters were auto-tuned based in time domain. The parameter optimization algorithm is SQP （Sequential Quadratic Programming）. The course of auto-tuning can be observed graphically. The simulation results show that the obtained control law satisfies the flying quality. The effeetion is much better than that of the parameters tuned by hand ,and the efficiency is improved. The method can be applied to other control objects.