| 基于LQR的无人机增稳控制系统设计及仿真 |
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| 引用本文： | 邢小军,闫建国,袁冬莉.基于LQR的无人机增稳控制系统设计及仿真[J].飞行力学,2011,29(5):54-56,65. |
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| 作者姓名： | 邢小军 闫建国 袁冬莉 |
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| 作者单位： | 西北工业大学 自动化学院,陕西 西安,710072 |
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| 基金项目： | 国家自然科学基金资助(60974146); 西北工业大学基础研究基金资助(NPU-FFR-JC20100216) |
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| 摘 要： | 为解决小型无人机易受大气紊流干扰、飞行稳定性较差等问题,根据固定翼飞机GJBI85-86及C*规范要求,应用鲁棒性较强的LQR理论设计了无人机纵向增稳控制器,以使其飞行品质满足相关规范要求.仿真结果表明,所设计的增稳控制系统不仅提高了无人机飞行的稳定性,还有效改善了其动态响应和鲁棒性.
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| 关 键 词： | 无人机 线性二次型调节器 增稳控制 |
Augmented-stability controller design and its simulation for a UAV based on LQR theory |
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| XING Xiao-jun,YAN Jian-guo,YUAN Dong-li.Augmented-stability controller design and its simulation for a UAV based on LQR theory[J].Flight Dynamics,2011,29(5):54-56,65. |
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| Authors: | XING Xiao-jun YAN Jian-guo YUAN Dong-li |
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| Institution: | XING Xiao-jun,YAN Jian-guo,YUAN Dong-li (College of Automation,Northwestern Polytechnical University,Xi'an 710072,China) |
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| Abstract: | In order to overcome the defect that unmanned air vehicles(UAVs) are easily disturbed by air current and tend to be unstable,an augmented-stability controller was developed for a certain UAV's longitudinal motion based on linear quadratic regulator(LQR) theory according to flight qualities specifications of GJB185-86 and C*.The simulation results show that the augmented-stability controller not only improves the UAV's stability and dynamic characteristics but also enhances the UAV's robustness. |
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| Keywords: | UAV linear quadratic regulator augmented-stability control |
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