基于无人直升机的舵机建模与控制律设计

Modeling and Control Law Design of Steering Engine Based on Unmanned Helicopter

为提高无人直升机高速飞行过程中飞控对舵控系统的安全控制裕量,提出改进型PID控制算法的设计方案,简述了无人直升机上舵机的建模方法与过程、控制律的实现方式和舵机控制器原理设计,通过扫频与大量飞行试验,测试结果表明:在6Hz的频响条件下,幅值衰减少于0.5dB,相位滞后70°,满足实际飞行需要。

In order to improve the safety control margin of flight control to rudder control system of unmanned helicopter in high-speed flight,proposed the design scheme of improved PID algorithm.Briefly described the modeling method and process of rudder on unmanned helicopter,the way to realize the control law and the principle design of rudder servo controller.Through sweeping frequency and a large number of flight tests,the result show that the amplitude attenuation is less than 0.5 dB,phase lag 70°at 6 Hz,which meet the actual flight needs.