基于H_∞/S面混合算法的无人机速度控制
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摘要
针对无人机速度控制系统在飞行过程中易受到参数摄动和外部扰动的影响,鲁棒性较差等不足,以某型无人机的数学模型为基础,提出一种鲁棒H_∞/S面模型控制算法。内环采用具有较强鲁棒性的鲁棒H_∞控制,外环采用具有较强非线性的S面控制算法,并在无外界干扰、有外界干扰、参数摄动的情况下进行仿真验证。结果表明:该系统具有快速性、精确性、鲁棒性和动态性能,更适合无人机的速度控制。
For the UAV speed control system, it is susceptible to parameter perturbation and external disturbance during flight, and the robustness is poor. Based on the mathematical model of certain type UAV, a robust H_∞/S surface model control algorithm is proposed. The inner ring adopts robust H_∞ control with strong robustness, and the outer ring adopts S-surface control algorithm with strong nonlinearity. The simulation results are verified without external disturbance,external disturbance and parameter perturbation. The results show that the control system is fast, accurate, robust and dynamic, and is more suitable for speed control of UAV.
For the UAV speed control system, it is susceptible to parameter perturbation and external disturbance during flight, and the robustness is poor. Based on the mathematical model of certain type UAV, a robust H_∞/S surface model control algorithm is proposed. The inner ring adopts robust H_∞ control with strong robustness, and the outer ring adopts S-surface control algorithm with strong nonlinearity. The simulation results are verified without external disturbance,external disturbance and parameter perturbation. The results show that the control system is fast, accurate, robust and dynamic, and is more suitable for speed control of UAV.
引文
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[2]KATRINA H.Development of unmanned aerial verial vehicle market:forecasts and trends[J].Air&Space Europe,2000,2(2):25-27.
[3]代威,张洪涛,惠俊鹏.无人机在未来海战场中的应用分析[J].兵器装备工程学报,2018,39(1):21-24.
[4]徐军.飞行控制系统-设计、原型系统及半物理仿真实验[M].北京:北京理工大学出版社,2015:66-108.
[5]朱石林,潘海鹏.积分分离PID算法在变频调速系统中的实现[J].电气传动与自动控制,2010,32(1):33-35.
[6]高俊,王鹏,侯中喜.基于改进PID算法的无人机变速度控制[J].华中科技大学学报(自然科学版),2015,43(增刊I):1-5.
[7]郑积仕,蒋新华,陈兴武.增量非线性动态逆小型无人机速度控制[J].系统工程与电子技术,2013,35(9):1923-1927.
[8]张敏,胡松寿.基于动态结构自适应神经网络的非线性鲁棒跟踪控制[J].南京航空航天大学学报,2008,40(1):76-79.
[9]BU X W,WU X Y,ZHU F J,et al.Novel prescribed performance neural control of a flexible air-breathing hypersonic vehice with unknown initial errors[J].ISATransactions,2015,13(7):125-136.
[10]陈鹏云,张鹏飞,赵兴成,等.无人机的专家S面控制方法[J].航天控制,2018,36(4):65-71.
[11]王曦,林永霖,吴永康.H∞控制在飞行/推进综合控制系统中的应用[J].航空动力学报,2004,19(5):695-702.
[12]何淼磊,贺继林,周烜亦.小型无人直升机鲁棒飞行控制[J].机器人,2016,38(3):337-342.
[13]MAHMOOD A,KIM Y,PARK J.Robust H∞,autopilot design for agile missile with time-varying parameters[J].IEEE Transactions on Aerospace&Electronic Systems,2014,50(4):3082-3089.
[14]刘学敏,徐玉如.水下机器人运动的S面控制方法[J].海洋工程,2001,19(3):81-84.
[15]ZHANG L,PANG Y J,SU Y M,et al.Expert S-surface control for autonomous underwater vehicles[J].Journal of Marine Science and Application,2008,7(4):236-242.
[16]SUN Y S,WAN L,LI Y M,et al.S plane control based on parameters optimiztion with simulated annealing for underwater vehicle[C]//Proceeding of 2011 International Conference on Electronic and Mechanical Engineering and Information Technology.Harbin,China,2011:552-556.