CAJ | 학술논문

针对无人机常规纵向控制方案成本较高、姿态变化剧烈、高度跟踪超调大的问题,设计一种基于加速度的纵向控制方案.建立了无人机纵向线性运动模型,介绍基于加速度的纵向控制方程和控制框图,给出纵向控制所需的硬件,提出了控制参数设计的具体步骤,进行了平飞、爬升和下降三种状态数学仿真,并与常规的纵向控制数学仿真结果进行了对比.仿真对比表明,基于加速度的纵向控制方案成本抗干扰能力强,姿态变化平稳,高度跟踪精度高、速度快、无超调,适用于各型无人机的纵向控制.
침대무인궤상규종향공제방안성본교고、자태변화극렬、고도근종초조대적문제,설계일충기우가속도적종향공제방안.건립료무인궤종향선성운동모형,개소기우가속도적종향공제방정화공제광도,급출종향공제소수적경건,제출료공제삼수설계적구체보취,진행료평비、파승화하강삼충상태수학방진,병여상규적종향공제수학방진결과진행료대비.방진대비표명,기우가속도적종향공제방안성본항간우능력강,자태변화평은,고도근종정도고、속도쾌、무초조,괄용우각형무인궤적종향공제.
Since the general longitudinal control schemes for UAV has high cost,drastic attitude change and great over-shoot in height tracking,a longitudinal control scheme based on acceleration was designed,and the longitudinal linear motion model of UVA was established. The acceleration-based longitudinal control equationand control block diagram are introduced. The hardware needed for longitudinal control is given. The specific design steps of the control parameters are presented. The mathematical simulation of level flight,climbout and decline was conducted. The simulation results are compared with the mathe-matical simulation results of conventional longitudinal control law. Simulation comparison results show that the proposed scheme has good anti-interference ability,smooth attitude change,high-accuracy height tracking,fast speed and no overshoot,which is suitable for the longitudinal control of various UAVs.