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针对飞翼式布局无人机存在纵向操稳性能差和易受阵风干扰问题,采用一种指令跟踪增广LQR方法设计了飞翼式无人机纵向姿态控制律,该方法将系统的输出误差和外界恒值阵风干扰信号引入到性能指标函数中,使设计出来的控制器不仅能保证飞行姿态的无静差跟踪,而且能有效抑制外界的阵风干扰。考虑到系统的迎角变量不易检测,结合降维观测器得到了一种准指令跟踪增广LQR方法,该方法不仅具有良好的鲁棒性和跟踪性,而且便于工程实现。最后利用获得的控制律对ICE飞翼式无人机进行仿真实验和对比分析,结果表明,采用改进后的LQR方法设计的控制器不仅改善了飞翼式无人机纵向模态的飞行品质,同时与输出反馈线性二次型跟踪方法和LQG/LTR方法相比,具有更好的控制性能。
Aiming at the problem that the flying wing UAV has poor longitudinal stability and is prone to gust disturbance, a command tracking augmented LQR method is used to design the longitudinal attitude control law of the flying wing UAV. The method outputs the system output error And the external gust gust jamming signal is introduced into the performance index function, so that the designed controller can not only ensure the tracking of the no-static flight attitude, but also effectively restrain the gust interference from outside. Considering that the system is difficult to detect the angle-of-attack variables, a quasi-order tracking augmented LQR method is obtained by combining with the reduced-dimensional observer. This method not only has good robustness and tracking but also is convenient for engineering implementation. Finally, using the obtained control law to simulate and compare the ICE wingless UAV, the results show that the controller designed with the improved LQR method not only improves the flight quality of the longitudinal mode of the flying wing UAV, At the same time, compared with the output feedback linear quadratic tracking method and the LQG / LTR method, it has better control performance.