无人机飞行控制系统的μ综合设计

μSynthesis Design of Flight Control System for Robot Plane

无人机鲁棒飞行控制系统采用μ综合设计构造其纵向姿态控制系统。其μ综合控制设计框架涉及广义标称对象、反馈控制传递阵、不确定模块及相应输入、输出等问题。断开控制器和不确定模块后,得到μ综合控制系统的开环结构,则设计转化为μ综合控制设计框架中对权函数的选择。选择并代入相应的权函数后,可得到广义飞机对象传递函数阵。数字仿真表明,据此设计的系统具有良好的动态特性和鲁棒稳定性。

The lengthways pitch attitude control system built with μsynthesis design was applied in flight robustness control system of robot plane. The frame ofμsynthesis design for the system relates to generalized nominal object, feedback control transfer array, uncertainty module and its input and output etc problems. After cutting controller and uncertainty module, open-loop structure of of μsynthesis system was obtained, and the design was transformed to select of weight function in the design frame ofμsynthesis control. After substituting relevant weight function, transfer function array of generalized plane object can be obtained. The digital simulation indicates that flight control system of robot plane based on μsynthesis design has nicer dynamic characteristics and robustness.