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研究了μ综合控制方法在无人机纵向控制律设计中的应用。建立了无人机纵向运动的小扰动方程,选取广义状态变量建立了系统广义被控对象,在Matlab中用基于D-K迭代方法求解反馈控制器,并进行了数字仿真验证。以无人机纵向运动中俯仰控制通道的等俯仰角爬升模态为例,给出了设计过程和结果,并与PID控制器的控制效果进行比较,表明μ综合控制有更好的控制效果,有效地解决了PID控制器设计中某些性能指标相互矛盾的问题。
The application of μ integrated control method in the design of longitudinal control law of UAV is studied. A small perturbation equation of longitudinal motion of UAV is established. Generalized state variables are selected to establish the system generalized controlled object. The feedback controller based on D-K iterative method is solved in Matlab and verified by digital simulation. Taking the elevation elevation mode of the pitch control channel in the longitudinal motion of UAV as an example, the design process and results are given and compared with the PID controller ’s control effect, which shows that the μ integrated control has better control effect, Effectively solve the PID controller design some of the performance indicators of the contradictory problems.