无人机全包线变增益调参控制律设计

Variable gain schedule control law design of UAV within full envelope

摘要:

中高空察打一体无人机具有长航时、多任务剖面的飞行特点,针对采用固定控制参数难以满足全包线飞行品质的问题,利用雅克比线性化方法建立了时变系统模型,研究了无人机空速、高度、质量变化对飞行品质的影响特性,设计了纵向和横向的短周期模态控制律,结合样例无人机在的典型工况得到了调参调度表,采用参数拟合的方法设计了基于参数摄动的全局调参控制器。仿真结果表明,所设计的变增益控制器能够有效改善无人机在全包线内的飞行品质,提升了无人机的使用性能。

Abstract:

Reconnaissance and strike integrated unmanned aerial vehicle (UAV)has the characteristics of long-endurance and multitask profile. For the problem that using fixed control parameters is difficult to meet the flight quality within full envelope, the linear-time-variable mode was established and the influences of airspeed, altitude and mass were studied to the flight quality. Both longitudinal and latitudinal control laws for the short period mode were designed and the gain-schedule table was obtained at the typical working points of the sample UAV. At last, the global gain-schedule controller was designed by means of parameter-fitting. The simulation results show that the variable gain controller can effectively improve the flight quality the within the full envelope and the operational performance of UAV.