小型高速无人机控制耦合分析及补偿控制

Control coupling analysis and compensation control of small high speed UAV

小型高速无人机横侧向转动惯量很小,在控制方向舵时,会在滚转通道产生较大的滚转角加速度,从而产生剧烈的滚转运动,表现出明显的控制耦合作用,影响小型高速无人机横侧向控制。本文从系统数学模型出发,了解其产生机理,以及其对无人机控制过程的影响。针对其中不可忽视的控制耦合力矩作用,采用PID控制方法,设计相应的耦合补偿控制律。仿真验证表明,该耦合补偿控制律能对控制耦合力矩项进行补偿,效果良好。

As the lateral inertia of small high speed Unmanned Aerial Vehicle（UAV） is very small, larger roll angle acceleration will be produced in the control of rudder roll channel, which results in dramatic rolling movement, shows obvious control coupling effect and then affects the lateral control of small high speed UAV. The forming mechanism is introduced according to the system mathematical model, as well as the UAV control process. Considering the control coupling torque that cannot be ignored, a corresponding coupling compensation control law is proposed by using Proportion Integral Derivative（PID） control method. Simulation results show that the method proposed can effectively compensate the control coupling torque.