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针对无人机常规纵向控制方案成本较高、姿态变化剧烈、高度跟踪超调大的问题,设计一种基于加速度的纵向控制方案。建立了无人机纵向线性运动模型,介绍基于加速度的纵向控制方程和控制框图,给出纵向控制所需的硬件,提出了控制参数设计的具体步骤,进行了平飞、爬升和下降三种状态数学仿真,并与常规的纵向控制数学仿真结果进行了对比。仿真对比表明,基于加速度的纵向控制方案成本抗干扰能力强,姿态变化平稳,高度跟踪精度高、速度快、无超调,适用于各型无人机的纵向控制。
Aiming at the problem of high cost of conventional longitudinal control scheme of UAV, dramatic change of attitude and oversize of height tracking, a longitudinal control scheme based on acceleration is designed. Longitudinal linear motion model of UAV is introduced. Longitudinal control equations and control block diagrams based on acceleration are introduced. Hardwares for longitudinal control are given. The concrete steps of control parameter design are given. Three states of leveling flight, climbing and descending are carried out. Mathematical simulation, and compared with the conventional longitudinal control mathematical simulation results. The simulation results show that the longitudinal control scheme based on acceleration has strong anti-interference ability, stable attitude change, high tracking accuracy, fast speed and no overshoot. It is suitable for longitudinal control of various UAVs.