CAJ | 학술논문

为全面改善无人动力伞飞行高度控制性能，提出一种带跟踪微分器的积分先行控制（ TD－IPD）方法。以线性二次型最优控制引出的积分先行控制器为基础，考虑到微分环节的干扰问题，引入跟踪微分器将信号从干扰中分离出来，并用最速控制综合函数fsun（?）减小达到稳态时所用步数；由于积分环节易饱和，采用饱和补偿方法对积分环节结构进行修改，从而提高积分环节抗饱和能力；以某动力伞的高度控制为对象，通过Matlab仿真验证了所提方法的有效性。
위전면개선무인동력산비행고도공제성능，제출일충대근종미분기적적분선행공제（ TD－IPD）방법。이선성이차형최우공제인출적적분선행공제기위기출，고필도미분배절적간우문제，인입근종미분기장신호종간우중분리출래，병용최속공제종합함수fsun（?）감소체도은태시소용보수；유우적분배절역포화，채용포화보상방법대적분배절결구진행수개，종이제고적분배절항포화능력；이모동력산적고도공제위대상，통과Matlab방진험증료소제방법적유효성。
In order to improve the performance of altitude holding control on unmanned powered paraglider, we proposed an integral-ahead control method with tracking differentiator ( TD-IPD ) .Taking interference problems of differential unit into account ,and based on integral-ahead controller deprived from the Linear Quadratic Optimal Control ( LQOC ) ,the tracking differentiator was introduced for separating the desired signal from interference,and fsun (?) ,the optimal control synthesis function was used to simplify the required proceeding for reaching steady state .To avoid integral saturation ,a saturation compensation scheme was used to modify integral control law for increasing the anti-saturation ability .The effectiveness of the proposed method was verified by a simulation with Matlab taking height control of a certain unmanned powered paragilder as an example .