小型无人机姿态回路的简化配置控制系统设计

Minimum-Sensor Attitude Control System for UAV

提出了无人机的最简控制设计思想 ,并就姿态回路进行了两种最简控制结构 (PI型、PID型 )的设计。为了提高最简控制性能和设计效率 ,将输出反馈 LQR控制理论进行了改进 ,使其能够解决飞行控制的跟踪问题。通过对某无人机姿态回路的最简控制设计表明 ,姿态回路的最简控制策略是成功的 ,控制系统的性能取决于最简控制结构 ,输出反馈 LQR不仅具有很高的设计效率 ,而且能对最简控制结构进行规范描述。

An idea of minimum sensor control methodology is presented and the performance of the control system is ensured to be well even if the number of the sensors is minimum. The output linear quadratic regulator (LQR) theory is adopted to enhance the performance of the control system and the design efficiency. The output LQR is modified to solve tracking problem to flight control system. Two kinds of minimum sensor control structures (PI, PID) for pitch attitude control loop are designed. Two different configurations for every control structure are presented. The study for a UAV pitch attitude control loop shows the success of the minimum sensor control structure for the flight control system, and the system performance is highly dependent on the control structure. The output LQR is very efficient and can uniformly describe various minimum sensor control structures. The success of the multiple variable control technique is shown in the flight control system and the high efficiency of modern design technique is proved.