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为满足Aerosonde无人机飞行控制系统的指标要求,提出一种线性二次型(LQR)与比例-积分-微分(PID)控制器相结合的方式对Aerosonde无人机的高度控制器进行设计.该方法在内环回路中用状态反馈LQR控制器对俯仰角速率进行控制,在外环回路中用PID控制器完成对无人机高度的控制.最后利用Matlab/Simulink软件对该方法进行了仿真.仿真结果表明,本文所设计的高度控制器具有较好的鲁棒性及控制精度.
In order to meet the requirements of the Aerosonde UAV flight control system, a linear quadratic (LQR) and proportional-integral-derivative (PID) controller are combined to design the altitude controller of the Aerosonde UAV. The method controls the pitch rate by the state feedback LQR controller in the inner loop, and controls the altitude of the UAV by the PID controller in the outer loop.Finally, the method is simulated by Matlab / Simulink software The simulation results show that the height controller designed in this paper has better robustness and control accuracy.