无人机纵向控制律设计以及纵向轨迹跟踪仿真研究

摘要

Control law for UAV vertical dual is designed, then traced a optimal trajectory optimized by the ener-gy state law. First of all, the UAV s mathematical model is built and linearized. Then some basic theories and techniques about classic PID control are used to design the lognitudinal control law of the UAV. Then the optimal trajectory which controls climbing, cruising and declining is optimized bu the energy state law. Finally, the simula-tion is tested in Matlab environment. The results of the simulation show that the contral law is effective.%利用经典PID理论设计无人机纵向双通道控制律,用以跟踪能量状态法优化出的无人机纵向最优轨迹.首先通过在定常直线无侧滑模态下对无人机数学模型进行配平线性化,将飞机运动分解为纵向运动和横侧向运动.再利用经典PID理论对无人机纵向运动的俯仰回路和推力回路进行控制律设计.然后通过能量状态法优化出一条无人机纵向爬升、巡航和下降的最优轨迹.最后,用MATLAB进行轨迹跟踪仿真计算.仿真结果表明,设计出的控制律可以很好的跟踪优化出的最优轨迹,并且节油效果良好.