基于PID的小型飞翼无人机控制系统设计

Design of small flying wing UAV control system based on PID

为了实现对小型飞翼无人机的姿态及高度控制,首先对飞翼无人机进行气动布局设计,确定目标飞翼无人机构型后,通过XFLR5获得示例飞翼无人机的相关空气动力学参数,根据非线性六自由度数学模型构建状态空间方程。采用传统PID控制理论,使用从内环到外环的逐层设计方法,对飞翼无人机横纵向目标状态变量进行分通道控制,并对控制结果进行仿真分析。分析结果表明,基于传统PID理论的内外环分通道控制系统的设计,可实现良好的姿态及高度控制,满足控制需求。

In order to achieve the attitude and altitude control of the small flying wing UAV,this article first designed the aerodynamic layout of the flying wing UAV,and determined the shape of the target flying wing.The relevant aerodynamic parameters of the example flying-wing UAV were obtained through XFLR5,and the state space equation was established according to the nonlinear six-degree-of-freedom mathematical model.Adopting traditional PID control theory,using a layer-by-layer design method from inner loop to outer loop,the horizontal and vertical target state variables of the flying-wing UAV were controlled by channels,and the control results were simulated and analyzed.The analysis results show that the design of the inner and outer loop sub-channels control system based on the traditional PID theory can achieve good attitude and altitude control to meet the control requirements.