H_∞整形法在巡检用无人机控制器中的应用

Application of H_∞ Loopshaping Method in Controller of Unmanned Aerial Vehicle for Inspection

四翼机应用于无人机电路巡检领域可降低成本、提高效率,但作为多输入多输出欠驱动控制对象,因其极易受气象环境影响,具有多变量、多耦合、非线性等特性,实现稳定性控制是目前面临主要困难之一。选择鲁棒控制器控制无人机姿态变化,是一种较为直观的方法,通过观测控制对象伯德图,对控制对象进行超前或滞后补偿,并不断调整补偿器设计,修正伯德图和各输出曲线,并将仿真结果结合实际硬件进行测试对比,从而达到H_∞回路整形法设计控制器的目的。结果表明该方法算法简洁,原理明确,且不必涉及对对象过分数学化的问题。

It is able to lower the cost and increase efficiency by using quadrotor in unmanned aerial vehicle（UAV） circuit inspection,but as multi-input,multi-output（MIMO） and under-actuation controlled member,the quadrotor is very easy to be affected by meteorological environment and has characteristics such as multivariate,multi-coupling,nonlinearity,and so on.Thus,realization of control on stability is one of the main difficulties at present.Selecting robust controller to control posture change of UAV is a kind of intuitive method,which is to conduct advancing or hysteretic compensation on the controlled member by observing its Bode diagram,and continuously adjust design of the compensator,revise Bode diagram and various output curves.In addition,this method could carry on testing comparison between simulation results and actual hardware so as to achieve the aim of using H_∞ loopshaping method to design the controller.Results indicate that this method is concise and explicit in its principles,which means not necessary to make the controlled member involve excessive mathematization problem.