一种新型垂直起降无人机纵向控制系统的研究

Study of Longitudinal Control System for a New Vertical Take-off and Landing UAV

重点介绍了一种新型垂直起降无人机(VTOL UAV)纵向控制系统的设计与仿真。以建立的VTOL UAV飞行动力学系统模型为基础,将系统动力学解耦到纵向和横向动力学模型。将传统控制理论与现代控制理论相结合,充分利用PID控制器原理简单、适应性强,线性二次型(LQR)调节器能改善内回路的动态特性和稳态性的特点,针对姿态角速度设计了内环LQR控制,针对姿态角设计了外环PID控制的双回路闭环控制器。所得到的控制器在MATLAB/SIMULINK环境中进行了仿真。仿真结果表明所设计的控制器是有效的,实现了对垂直起降无人机的纵向控制。

The focus of this paper is on the design of a new vertical take-off and unmanned aerial vehicle(VTOL UAV)longitudinal control system.The system dynamics can decoupled to the longitudinal dynamics and lateral dynamics based on the VTOL UAV flight dynamics system model.An inner loop LQR(linear quadratic regulator)controller and an outer loop PID double closed loop controller are designed for attitude angle rate and attitude angle respectively by combing traditional control theory and modern control theory.Which take the advantages of PID controller’s simple control theory and strong adaptability,and LQR controller can improve the dynamic characteristics and steady-state characteristics of inner loop.The resulting controller is simulated in the MATLAB/SIMULINK environment.The simulation results show that the designed controller is effective,and the longitudinal control of the vertical take-off and landing unmanned aerial vehicle is realized.