无人机鲁棒伺服LQR飞行控制律设计

Robust Servo LQR Flight Control Law Design of UAV

为抑制无人机飞行模态切换时舵面跳变使机体产生的大过载,降低无人机对舵系统及结构可用过载的要求,将鲁棒伺服LQR方法与经典控制方法相结合设计了飞行控制律;以俯仰角控制模态为例,对鲁棒伺服LQR控制方法的特性进行了分析,俯仰角速率回路采用鲁棒伺服LQR最优控制方法设计了控制律,俯仰角回路采用经典控制方法设计了控制律,并通过非线性数字仿真对控制律的控制效果进行了验证;仿真结果表明:鲁棒伺服LQR控制比常规PID控制超调量减小50%,且大大减小了响应初期的升降舵偏角突变,降低了对机体可用过载的要求;该控制律形式简单,易于工程实现。

To suppress the large overload caused by control surface deflection when the flight mode transitions, reducing the require- ments of servos and available overload, the flight control law was designed combining the robust servo LQR and the classical control. Take the pitch angle control mode for example, the characteristics＇of robust LQR control method were analyzed, pitch rate control law was de- signed using robust servo LQR optimal control method, pitch angle control law was designed using classical control method, the control effects were verified according to nonlinear digital simulation. The results showed that： the overshoot of pitch angle response decreasing by 500% using robust LQR control method, LQR robust servo control than conventional PID control overshoot is reduced by 50%, The phe nomenon of a larger angle rate because of servo command mutation is suppressed in initial response, the requirements of available overload is greatly reduced. The form of the control law was simple, and easy to implement in engineering.