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小型无人机姿态回路的简化配置控制系统设计
引用本文:黄一敏,孙春贞.小型无人机姿态回路的简化配置控制系统设计[J].南京航空航天大学学报,2003,35(2):189-192.
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:提出了无人机的最简控制设计思想,并就姿态回路进行了两种最简控制结构(PI型、PID型)的设计。为了提高最简控制性能和设计效率,将输出反馈LQR控制理论进行了改进,使其能够解决飞行控制的跟踪问题。通过对某无人机姿态回路的最简控制设计表明,姿态回路的最简控制策略是成功的,控制系统的性能取决于最简控制结构,输出反馈LQR不仅具有很高的设计效率,而且能对最简控制结构进行规范描述。

关 键 词:姿态回路  设计  飞行控制  LQR  最简控制  无人驾驶飞机
文章编号:1005-2615(2003)02-0189-04
修稿时间:2002年6月12日

Minimum-Sensor Attitude Control System for UAV
Huang Yimin,Sun Chunzhen College of Automation Engineering,Nanjing University of Aeronautics & Astronautics,Nanjing,China.Minimum-Sensor Attitude Control System for UAV[J].Journal of Nanjing University of Aeronautics & Astronautics,2003,35(2):189-192.
Authors:Huang Yimin  Sun Chunzhen College of Automation Engineering  Nanjing University of Aeronautics & Astronautics  Nanjing    China
Institution:Huang Yimin,Sun Chunzhen College of Automation Engineering,Nanjing University of Aeronautics & Astronautics,Nanjing,210016,China
Abstract:An idea of minimum sensor control methodology is presented and the performance of the control system is ensured to be well even if the number of the sensors is minimum. The output linear quadratic regulator (LQR) theory is adopted to enhance the performance of the control system and the design efficiency. The output LQR is modified to solve tracking problem to flight control system. Two kinds of minimum sensor control structures (PI, PID) for pitch attitude control loop are designed. Two different configurations for every control structure are presented. The study for a UAV pitch attitude control loop shows the success of the minimum sensor control structure for the flight control system, and the system performance is highly dependent on the control structure. The output LQR is very efficient and can uniformly describe various minimum sensor control structures. The success of the multiple variable control technique is shown in the flight control system and the high efficiency of modern design technique is proved.
Keywords:UAV  flight control  output linear quadratic regulator  minimum  sensor control
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