LQR与PID结合的无人机高度控制

UAV's altitude control by using LQR and PID

为满足Aerosonde无人机飞行控制系统的指标要求,提出一种线性二次型(LQR)与比例-积分-微分(PID)控制器相结合的方式对Aerosonde无人机的高度控制器进行设计.该方法在内环回路中用状态反馈LQR控制器对俯仰角速率进行控制,在外环回路中用PID控制器完成对无人机高度的控制.最后利用Matlab/Simulink软件对该方法进行了仿真.仿真结果表明,本文所设计的高度控制器具有较好的鲁棒性及控制精度.

In order to meet the index requirements of the Aerosonde UAV’s flight control system,this paper presents a method that combines the LQR controller and the PID controller to design the altitude controller of Aerosonde UAV.In this method,state feedback LQR controller is used in the inner loop to control the pitch angle rate,and in the outer loop PID controller to control UAV’s altitude.Finally,the paper applies Matlab/Simulink to make simulations.Simulation results show that the proposed altitude controller has relatively better robustness and controlling precision.