某后推式全动平尾电动手抛无人机的定高控制设计

Design for fixed altitude control of UAV with pushback stabilator and electric hand-fling

对后推式全动平尾电动手抛无人机的定高飞行控制技术进行研究,根据飞行控制系统理论,对无人机的飞行控制律进行设计,在此基础上,采用经典的PID控制方法,设计了无人机的纵向控制律,同时针对实际飞行中高度受油门变化扰动很大,提出使用高度-油门控制环路对纵向控制进行补偿的方法来提高无人机的高度控制精度,并在某小型电动手抛无人机上进行了实际飞行验证,飞行结果表明高度控制方法合理、有效,有广泛的借鉴意义。

UAV fixed altitude fight control technology with pushback stabilator and electric hand？fling is studied. UAV flight control rules were designed according to flight control system theory. Then on the basis of it,UAV longitudinal control rules were designed by using classic PID control. Since the large disturbance is generated when the altitude is changeable with accelerator in actual flight,the method which adopts altitude？accelerator control loop to compensate longitudinal control is pro？posed to improve UAV altitude control precision. The actual flight verification is conducted on a small electric hand？fling UAV. Flight results show that the altitude control method is reasonable and effective,and it has extensive reference significance.