基于定量反馈理论的微型飞行器增稳控制器

Augmented-stability controller for micro air vehicle based on quantitative feedback theory

为解决微型飞行器因低Reynolds数特性易受大气流动干扰、飞行稳定性较差等问题,采用鲁棒性较强的定量反馈理论(QFT)设计了纵向和横侧向的增稳控制器,在6自由度全量仿真模型里进行了验证,并将控制器运用于实际飞行实验,结果表明:控制器可以适应飞行速度等的不确定性,具有较好的鲁棒控制效果。还采用QFT和比例积分微分(PID)相结合的混合控制器,提高鲁棒性和飞行稳定性。

Micro air vehicles （MAVs） are easily disturbed by aircurrents and tend to he unstable due to the low Reynolds number characteristics. An augmented-stability controller was developed for lateral and latitudinal loops based on quantitative feedback theory （QFT） for MAVs. The controller effectiveness is verified by simulations performed in a 6-degree-of-freedom （6-DOF） MAV simulation and in a real flight experiment. The results show that the controller is effective for various conditions including even when the flight velocity is undetermined and is very robust. In addition, a hybrid controller combining a proportion integration differentiation （PID） controller with a QFT controller is used to further enhance the robustness and stability of the MAV.