基于混合PID/H_∞的无人机协调转弯控制律设计

Design of coordinated turn control law for a UAV based on PID/H_∞

以某型无人机的数学模型为基础,提出了基于混合PID/H∞的无人机协调转弯控制律设计方法,分为纵向和横侧向分别进行控制律设计。纵向通道中,把高度保持控制律的设计转化为跟踪问题,再把跟踪问题转化为标准H∞控制处理,控制高度输出稳定不变;横侧向通道中,以H∞控制滚转角,实现内回路的设计,以PID控制偏航角速率和侧滑角,实现外回路的设计。通过仿真,将混合控制器与PID控制器的控制效果进行了对比。结果表明,所设计的控制器性能满足要求,且比PID控制器具有更好的控制效果。

This paper takes a UAV＇s mathematical model as foundation, and proposes the design method of coordinated turn control law for a UAV based on the PID/H∞ , the control law is divided into longitudinal and lateral. In the longitudinal channel, it translates the design of high hold control law into tracking problem, and translates the tracking problem into the standard H∞ design problem, so as to the altitude output holds stable. In the lateral channel, it controls the roll angle with H∞ control method to realize the design of innor loop, and controls yaw rate and sideslip angle with the PID control method to realize the design of outer loop. Comparing the control effect of PID/H∞ controller and the PID controller, the simulation results indicate that the PID/H∞ controller performance can be satisfied for the request and has a better control results compared to the PID controller.