基于垂直陀螺的无人机纵向姿态控制技术研究

The simple longitudinal attitude control system design for UAV

为了有效的减少飞行控制系统配置,降低成本,本文提出了基于垂直陀螺的无人机纵向姿态简化配置控制方案,分析了纵向姿态简化配置控制方案的理论依据。针对该简化配置特性,以某小型无人机为分析对象,采用简化配置方案设计了相应的纵向姿态控制律,并通过采用重心后移降低稳定性对控制系统鲁棒性进行验证,分析了对简配控制方案的适用对象特性和控制效果。

In order to effectively reduce the flight control system configuration of UAV,reduce costs, is proposed in this paper,based on the vertical gyro longitudinal attitude to simplify the configuration control plan,analyses the longitudinal attitude to simplify the configuration control scheme of theoretical basis.For the simplified configuration features,with a small UAV as the analysis object,design the corresponding simplified configuration was used in the longitudinal attitude control law,and through the center of gravity back are adopted to decrease the stability robustness of control system verification, analyzed Jane with applicable object properties of control scheme and the control effect.