抗风能力无人机飞行稳定性控制模型仿真研究

High Wind Power Stability of UAV Flight Control Simulation Model

为了解决无人机在飞行过程中存在高空风切变和大气紊流干扰等因素,致使其稳定性难以控制的问题,因此需要组建高抗风能力无人机飞行稳定性控制模型。但是当前的模型无法依据无人机不同的飞行环境选取当前合适的控制器,存在控制鲁棒性差的问题。为此,提出一种基于线性二次型调节器LQR的高抗风能力无人机飞行稳定性控制模型。首先给出当前无人机飞行稳定性控制状态空间形式,计算出操纵期望参数,融合于线性二次输出反馈原理对无人机飞行稳定性控制系统进行内回路控制器的设计,得到控制系统内回路闭环特性,给出无人机飞行环境和大倾角变化率,其次当滚转角或俯仰角的值超过临界值时,设计出反步法控制器。利用上述控制器组建高抗风能力无人机飞行稳定性控制模型。仿真结果表明,所提模型控制精确度高,满足了无人机飞行稳定性控制的实时性和鲁棒性要求。

In this paper, we propose a control model for flight stability of UVA with high anti - wind capability based on LQR. Firstly. The state space form of current UVA flight stability control was given out and the control anticipation parameter was worked out. Then, an inner loop controller was designed to control the system of flight stability integrated with the linear secondary output feedback theory and obtain the inner loop closed - loop characteristics of control system. Moreover, the change rate of flight environment and large dip angle were given out and the back stepping controller was designed when the value of roll angle or pith angle exceeded the critical value. Finally, we used the controller to build the control model for flight stability of UVA with high anti - wind capability. The simulation re- suits show that the model has high control precision. It fulfills the requirement for real - time performance and robustness of flight stability control.