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针对某型带前发STOL飞翼无人机,建立降落阶段动态特性数学模型方程;并对飞机降落过程纵向运动特性进行动态特性分析,分析可知其长周期模态不稳定;针对此进行PID控制律设计。同时STOL无人机在降落过程中速度低,模型参数发生摄动,低空大气扰动和外界不确定性干扰等因素影响相对更明显,采用Kalman滤波器与PID控制相结合的方法对系统进行仿真研究,控制效果得到明显的改善。
For a certain type of STOL flying wing UAV, the mathematical model equation of the dynamic characteristics of landing stage is established. The dynamic characteristics of the longitudinal movement of the aircraft during landing are analyzed and the long-period modal instability is analyzed. PID control Law design. At the same time STOL drone has relatively low speed during landing, perturbation of model parameters, low-level atmospheric disturbance and external uncertainties. The Kalman filter and PID control are combined to simulate the system , The control effect has been significantly improved.