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为提高固定翼无人机的任务能力,使其能够快速改变飞行速度适应任务需求,针对无人机飞行过程中随着速度改变,纵向平衡位置须及时调整的问题,对传统PID算法进行了改进,设计了新的平衡位置修正算法,将比例项和微分项的控制结果乘以一定的系数累加,修正平衡位置的偏差.仿真和飞行试验结果表明:这一改进的算法相比传统的积分算法可以更快地找到新的平衡位置,能够在飞行过程中依据不同的速度有效地修正纵向平衡位置偏差,消除控制结果的静态误差,响应速度快、超调量小、控制效果良好.
In order to improve the mission capability of the fixed-wing UAV, it can quickly change the flight speed to meet the needs of the mission. In view of the problem that the speed and vertical balance position should be adjusted in time when the UAV is flying, the traditional PID algorithm is improved , A new balance position correction algorithm is designed and the control results of proportional terms and differential terms are multiplied by a certain coefficient to correct the deviation of balance position.The simulation and flight test results show that compared with the traditional integral algorithm The new balance position can be found more quickly, which can effectively correct the longitudinal balance position deviation according to different speeds during flight, and eliminate the static error of the control result. The response speed is fast, the overshoot is small, and the control effect is good.