断开垂直陀螺的无人机纵向控制技术研究

Longitudinal control system design for UAV without vertical gyroscope

为适应低成本、小型化无人机发展趋势,提出了断开垂直陀螺,仅采用角速率陀螺、GPS和大气机的简化配置控制思想,形成了基于高度控制的爬升、平飞、下滑纵向控制策略,设计了缺少俯仰角信号时的高度控制方案,并分析了控制方案的理论依据。利用某小型无人机进行了简化配置纵向控制律设计,分析了控制系统的频域特性和时域特性,对其控制性能进行了考察。通过与传感器完整配置下的常规控制律对比分析表明,对于纵向静稳定性较好的无人机,该简化配置控制策略是可行的。

In pursuit of economical efficiency and miniaturization for UAV,an idea of simple longitudinal control methodology is studied.The simple controller is based on three-axis angular rate gyroscope,GPS and air data computer,lack of vertical gyroscope compared with traditional sensor configuration.The control policy of climb,level and dive based on altitude control comes into being,according to the simple control policy,the simple altitude control methodology without pitch angle is designed and analyzed.With the simple control methodology,the longitudinal altitude control law is designed for a small UAV,and the applicability and control results of simple control methodology are analyzed in frequency domain and time domain.The study of the simple altitude control for a small UAV shows that the simple longitudinal control methodology for the flight control system is available for the UAV with natural stability.