一种新的MAV航姿控制系统的研究

Research on a New Kind of MAV Aviation Attitude Control System

阐述基于iMEMS技术的MAV飞行控制系统设计方案。在MAV导航中,导出四元数与捷联矩阵的转换关系,提出一种新型控制算法。利用Smith预估器补偿受控过程的纯滞后作用,模糊推理控制器实时调整PID参数,以优化系统动态响应性能指标,改善控制器性能。仿真结果表明,所设计的MAV微型飞行系统具有理想的动态调节性能、较强的抗干扰性,同时符合飞控系统的高精度、小型化、数字化发展趋势,具有很好的应用前景。

A kind of design plan of MAV flight control system which based on iMEMS was elaborated.During the MAV navigation,the transformation equations between quaternion and attitudes was derived,a new control algorithm was proposed.The pure time delay effects of the controlled object was made up by Smith estimating controller,and the PID controller parameters were adjusted by the fuzzy controller.The simulation result show that the MAV flight control system has the characteristics of good dynamic adjustment,high steady-state accuracy,strong resistant ability to interference,at the same time,in line with the flight control system of high-precision,miniaturization,digital development trends,has good application prospects.