一种新的小型无人机飞行控制策略研究

针对传统控制策略对小型无人机系统计算能力要求高、结构要求复杂的特点,提出了一种新的控制策略,即只采用角速率陀螺和GPS传感器配置,控制器结构采用两层回路实现(即角速率回路和轨迹控制回路)。利用输出反馈二次调节器设计方法得到了相应的控制器结构参数。最后,通过仿真比较了新控制策略和传统控制策略在轨迹控制过程中的控制效果。仿真结果表明,所提出的控制策略具有与传统控制策略相似的控制效果,但新策略下的控制器结构和系统复杂程度都更简单。

Research on a New Flight Control Strategy for Small UAV

In order to solve the problems of traditional strategy in computational ability and complexity of configuration,this paper presents a new control strategy for a small UAV which using the gyroscope and GPS as the primary sensor,and the configuration of controller using two loops as the primary framework,and then getting values of the controller using the LQR method.At last,we contrast the effect of two strategies in the process of tracking control.The result shows that the new strategy has similar effects wi...