摘要
在无人机着陆优化控制的研究中,由于在快速着陆过程中无人机速度与下沉率不断上升的问题,故控制律需要对轨迹进行精确跟踪并在着陆过程末端增加俯仰角,减小下沉率。在控制律设计过程中,提出了鲁棒伺服LQR(RSLQR)和比例-积分-微分(PID)控制方法。首先根据快速着陆轨迹线,设计了以C*为控制变量的鲁棒伺服控制律,然后在C*控制律的基础上,利用PID方法设计了无人机高度及高度变化率控制律,并在非线性环境下进行了仿真。仿真结果表明,上述着陆控制律可以引导无人机沿所设计的轨迹线着陆,并在着陆末端可以减小下沉率,增大俯仰角,鲁棒性强,控制精度高。仿真结果为无人机快速着陆的研究提供科学依据。
Along with the improvement of aerodynamic layout technology, the UAV has adapted to using the fast- landing method whch is based on the steep gliding angle. Because during the fast-landing process, the problems that vector and sinking rate keep increasing exsiste, the control law must follow the track line and decrease the sinking rate and increase the pitch angle at the end of the landing process. So the Robust Servomechanism LQR （RSLQR） and Proportion-Integrator-Derivative （PID） control methods were used during the design of control law. According to the fast-landing track line, a RSLQR control law with a control variable of C ＊ was designed first, then the height control law and the sink rate control law were designed using the PID method based on the C ＊ RSLQR control law, and the control laws were simulated under the un-linear environment. The simulation result shows that the control law can lead the UAV landing by gliding along the designed track line, decrease the sinking rate, and increase the pitch angle. It has a strong robustness and high accuracy, and can meet the quest of UAV fast landing.
出处
《计算机仿真》
CSCD
北大核心
2016年第7期141-146,共6页
Computer Simulation
