续航型无人机动力学设计特点分析

针对续航型无人机的任务需求和总体特点，从稳定性、指令跟踪精度、大气紊流及其它扰动抑制能力等方面，仔细分析了纵向和横侧动力学设计容易出现的问题，其中包括沉浮模态频率较大而阻尼比可能不足、高度控制器设计模型的近似要求、在反操纵区因为轨迹稳定丧失和非最小相位零点的存在导致基于俯仰角调节系统方案的不合适性、螺旋镇定和偏航姿态控制系统振荡及其非最小相位特性等；并提供了相应的解决方案，其中特别强调面向任务和动力学机理分析，以尽量获得简单而实用的方案。

Research on Dynamics Integration Features for Unmanned Long-Endurance Flight Vehicles

Based on the mission requirements and typical configurations of unmanned, long endurance flight vehicles, key features on flight dynamics integration were investigated in details, with emphasis on stability, command following accuracy and ability to subdue effects of atmospheric turbulence and other disturbances. The potential problems given special interests include high frequent oscillation of the phugoid mode with low damping; errors in low frequencies for altitude command controller design with conventional aircraft dynamics model; maladjustment of altitude command controller with pitch controller as the inner loop in the low speed region, due to loss of flight path stability and emergence of a non-minimum phase zero; the spiral mode stabilization and the response delay of the yaw attitude controller, and so on. Simple applicable solutions were brought forward via dynamics mechanism dissection.