摘要
针对某小型样例无人机横侧向转动惯量小、副翼效率高等特点,设计了以滚转角速率为内回路的滚转角、航迹角和航迹跟踪控制律。根据各控制指标与性能加权矩阵Q、控制加权矩阵R的关系,确定了Q阵和R阵,应用鲁棒伺服LQR优化方法,给出了滚转角控制律参数。与常规的滚转角控制器比较表明,以滚转角速率为主控变量的控制器抗干扰能力强,满足样例无人机横侧向控制的要求。
In order to solve the problem of small horizontal rotational inertia and high aileron efficiency for a sample UAV,we designed the roll angle control law,flight path angle control law and flight path tracking control law taking the roll angle rate as their inner-loop.According to the relationship of control quality index with the performance weighting matrix Q and the control weighting matrix R,the matrix Q and R were determined.Then the robust servo LQR optimization method was applied to determine the control law parameters.Compared with the conventional roll angle controller,the roll angle controller in this paper has higher anti-interference ability,which can meet the requirements of lateral control of the sample UAV.
出处
《电光与控制》
北大核心
2012年第11期7-12,共6页
Electronics Optics & Control
基金
飞行器自主控制技术教育部工程研究中心项目(南京航空航天大学)
