|本期目录/Table of Contents|

[1]李远伟,王常虹,伊国兴,等.涵道式无人机鲁棒控制系统设计[J].电机与控制学报,2010,(09):81-87.
 LI Yuan-wei,WANG Chang-hong,YI Guo-xing,et al.Robust control system design for a aducted fan unmanned aerial vehicle[J].,2010,(09):81-87.
点击复制

涵道式无人机鲁棒控制系统设计(PDF)
分享到:

《电机与控制学报》[ISSN:1007-449X/CN:23-1 408/TM]

卷:
期数:
2010年09
页码:
81-87
栏目:
出版日期:
2010-10-25

文章信息/Info

Title:
Robust control system design for a aducted fan unmanned aerial vehicle
作者:
李远伟; 王常虹; 伊国兴; 奚伯齐;
哈尔滨工业大学空间控制与惯性技术研究中心;
Author(s):
LI Yuan-wei; WANG Chang-hong; YI Guo-xing; XI Bo-qi
Space Control and Inertial Technology Research Center; Harbin Institute of Technology; Harbin 150080; China
关键词:
涵道式无人机 动力学模型 参数摄动 干扰抑制 H∞控制理论 飞行试验
Keywords:
ducted fan unmanned aerial vehicle dynamic model parameter perturbation disturbance attenuation H∞ control theory flight testing
分类号:
V249.1
DOI:
-
文献标志码:
A
摘要:
介绍了一种小型涵道式无人机的姿态控制系统的设计及实现技术。首先通过对无人机组成部分的动力学分析建立了涵道式无人机的数学模型,将模型进行线性化,并针对飞行试验过程中的不确定性以及结构紧凑带来的易受外部干扰的特性设计了基于H∞理论的鲁棒控制器,并将控制器带入非线性系统进行仿真,仿真结果验证了该算法的有效性。飞行试验结果表明,该控制器在悬停及小范围机动时比传统的PID控制器具有更强的抗干扰性,提高了飞行器的稳定性和操控性。
Abstract:
The flight attitude control system for the small size ducted fan unmanned aerial vehicle (UAV) is presented.Firstly,the mathematic model for the UAV is constructed from the forces and moments analysis of the vehicle,and the derived nonlinear model is linearized in the hovering flight condition.Then the robust flight attitude controller based on this linear model is designed to deal with the parameter uncertainty and external disturbance which is due to the compact configuration.The validity of the controlle...

参考文献/References:

-

相似文献/References:

[1]高国琴,吴欣桐,曹园园,等.混联式汽车电泳涂装输送机构同步滑模控制[J].电机与控制学报,2017,21(06):113.[doi:10.15938/j.emc.2017.06.015]
 GAO Guo-qin,WU Xin-tong,CAO Yuan-yuan,et al.Synchronized sliding mode control of a hybrid mechanism for automobile electro-coating conveying[J].,2017,21(09):113.[doi:10.15938/j.emc.2017.06.015]
[2]姜仁华,刘闯,宁银行,等.雷达伺服系统耦合力矩对跟踪精度影响分析[J].电机与控制学报,2020,24(01):18.[doi:10.15938/j.emc.2020.01.003]
 JIANG en-hua,LIU Chuang,NING Yin-hang,et al.Influence analysis of coupling torque on tracking accuracy for radar servo system[J].,2020,24(09):18.[doi:10.15938/j.emc.2020.01.003]

备注/Memo

备注/Memo:
国防预研资助项目(51309030102)
更新日期/Last Update: 2010-11-23