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为解决小型涵道风扇式无人机俯仰通道和滚转通道之间的惯性耦合问题,采用简单自适应控制(simple a-daptive control,SAC)方法对无人机姿态角速度控制回路设计模型参考自适应控制器,使该控制回路在受到不确定扰动和参数摄动的影响下,仍能稳定跟随参考模型输出;同时对所构造参考模型进行串联前馈解耦,以使无人机跟随参考模型同步解耦,进而实现对无人机姿态角速度和自身姿态角的有效控制.仿真结果显示,该控制律能使无人机姿态稳定跟踪参考模型输出,并且有效抑制了被控对象参数摄动带来的不利影响,控制系统具有较强的自适应性和鲁棒性.
In order to solve the problem of inertial coupling between the pitch channel and the rolling channel of the miniature ducted fan UAV, a simple a-daptive control (SAC) method is applied to design the UAV attitude-angular velocity control loop Adaptive controller, the control loop can still follow the reference model output under the influence of uncertain disturbance and parameter perturbation. At the same time, the constructed reference model is decoupled by series feed-forward to make the UAV follow the reference model So as to realize the control of the attitude angular velocity and attitude angle of the UAV effectively.The simulation results show that the control law can make the output of the UAV attitude stable tracking reference model and effectively restrain the controlled object’s parameter perturbation To the adverse effects, the control system has strong self-adaptability and robustness.