基于法向过载增稳的无人机纵向姿态控制技术研究

The Longitudinal Attitude Control System Design Based on Normal Acceleration for UAV

本文结合导弹比例制导理论和过载控制理论,重点研究了基于过载增稳的无人机纵向姿态控制技术,形成了以俯仰角比例反馈为外环和以过载复合控制为内环的复合增稳控制方案,对比仿真验证表明,相对于基于俯仰角与俯仰角速率的常规PID控制技术,在具备相同的快速性、无超调、零静差指标条件下,基于法向过载增稳的纵向姿态控制技术可以有效地同时兼顾操纵性与稳定性,并且具有更强的抗干扰能力。

According to the missile＇s proportion guide law and the classical normal acceleration control technology, this paper mainly studies the longitudinal attitude control technology based on the classical normal acceleration control. The multiple control method is developed, which constitutes the pitch angle proportion control as outloop and the classical normal acceleration control as innerloop. Finally, the comparison of simulation result with the same type control characteristics except robust- ness indicates that the longitudinal attitude control technology based on the classical normal acceleration control provides better robustness, maneuverability and stability to the classical PID of pitch angle.