电光与控制, 2015, 22 (1): 72, 网络出版: 2015-01-13  

无人动力伞带跟踪微分器的高度控制方法

An Integral-Ahead Control Method with Tracking Differentiator for an Unmanned Powered Paraglider
作者单位
军械工程学院无人机工程系, 石家庄 050003
摘要
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。
Abstract
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.

王雅平, 齐晓慧, 张昊, 邱金刚. 无人动力伞带跟踪微分器的高度控制方法[J]. 电光与控制, 2015, 22(1): 72. WANG Ya-ping, QI Xiao-hui, ZHANG Hao, QIU Jin-gang. An Integral-Ahead Control Method with Tracking Differentiator for an Unmanned Powered Paraglider[J]. Electronics Optics & Control, 2015, 22(1): 72.

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