无人机L_1自适应俯仰控制性能仿真

Simulation Research for UAV Pitch Control Performance Based on L_1 Adaptive Controller

面向无人机全包线飞行时动态的非线性、战损/故障导致的舵面效能变化以及外部环境的时变干扰问题,以俯仰角控制为例,设计了L_1自适应控制器,同时设计PI控制器以便对比分析控制性能。通过开展一系列仿真试验,可以发现,对于存在模型不确定性、舵面效能变化和外部时变干扰情况,L_1自适应控制器的稳定性和鲁棒性明显优于PI控制器,满足无人机的控制需求,为工程应用奠定基础。

To solve the problems of nonlinearity in full-envelope flight of UAV and control surface's efficiency varieties caused by battle damages or surface failures and time varying disturbances in flight environment,two pitch attitude control laws which are L_1 adaptive controller and PI controller have been designed for comparatively analyzing control performance. A series of simulation experiments with model uncertainties,control surface' s efficiency varieties and various disturbances are developed and simulation results show that L_1 adaptive controller is obviously better than PI controller in stabilization and robustness,which meets the control requirements of UAV totally and lays the foundations for engineering application.