基于双环设计的PD垂直起降飞行器轨迹跟踪控制

Trajectory Tracking Control for Vertical Taking-off and Landing Aircraft Based on PD with Dual-loop

论文针对垂直起降飞行器在轨迹跟踪控制过程中存在不确定性和外部扰动的问题,提出了一种基于双环设计的PD轨迹跟踪控制方法。首先,基于前馈补偿对垂直起降飞行器控制器进行PD控制方法设计,其次,将轨迹跟踪系统分为内外两个控制环路,最后进行Matlab/Simulink的仿真实验验证。研究结果表明,基于双环设计的PD控制方法使得垂直起降飞行器性能指标较好,能补偿控制系统所受到的内外干扰,提高控制系统的稳定性。

In this paper,aiming at the problems of uncertainty and external disturbance in the trajectory tracking control process of the vertical taking-off and landing aircraft,a trajectory tracking control method based on PD with dual-loop control is proposed.Firstly,the PD control method of the VTOL controller is designed based on feed-forward compensation.Secondly,the trajectory tracking system is divided into two control loops,inner and outer.Finally,Matlab/Simulink simulation experiment is conducted.The research results show that the PD control method based on the double-loop design makes the performance index of the vertical take-off and landing vehicle better,it can compensate the internal and external disturbances of the control system,and improve the stability of the control system.