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无人机简化配置控制技术研究
引用本文:黄一敏,孙春贞.无人机简化配置控制技术研究[J].南京航空航天大学学报,2005,37(1):11-15.
作者姓名:黄一敏  孙春贞
作者单位:南京航空航天大学自动化学院,南京,210016
摘    要:提出了一种仅采用垂直陀螺和GPS的简化配置控制方案,形成了无人机飞行控制系统常用的俯仰/滚转控制回路、高度控制回路和航迹控制回路。由于GPS信号更新率(1Hz)较低,利用无人机运动学之间的内在关系,给出了高度、航向、位置反馈信号的融合算法。这些反馈回路的控制增益均采用改进的输出反馈LQR设计技术,该技术简化了权矩阵的选择。对比研究表明,对于自身稳定性较好的无人机,该简化配置方案能够实现姿态控制、高度控制和航迹控制。

关 键 词:飞行控制  最简控制  输出反馈LQR  无人机
文章编号:1005-2615(2005)01-0011-05
修稿时间:2004年4月20日

Minimum-Sensor Flight Control System for UAV
HUANG Yi-min,SUN Chun-zhen.Minimum-Sensor Flight Control System for UAV[J].Journal of Nanjing University of Aeronautics & Astronautics,2005,37(1):11-15.
Authors:HUANG Yi-min  SUN Chun-zhen
Abstract:An idea of minimum-sensor control methodology is prop os ed. The flight control system is based on vertical gyro and GPS only compared w ith traditional sensor configuration. Practical control structures for pitch/ro ll hold loop, altitude hold loop, trajectory tracking loop are individually desi gned based on inner/outer loop structure. For pitch/roll hold loop design, a p hase-lead network is introduced to provide necessary phase margin. Because of t he low refresh rate (1 Hz) of GPS signals, a data fusion algorithm is developed with the inherent kinetic relationship to improve dynamic characteristics of alt itude, heading and position signals. The altitude hold loop and trajectory track ing loop are designed according to the modified feedback signals. All the contro l gains for each loop are designed by the modified output LQR theory, which simp lify the selection of weighting matrix and can directly design the track problem for flight control system with a specified output feedback control structure. T he comparative study shows the effectiveness of the proposed minimum-sensor tec hnique on the typical unmanned aviation vehicle (UAV).
Keywords:flight control  minimum-sensor control  output LQR  un manned aviation vehicle (UAV)
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