太赫兹科学与电子信息学报Issue(1)：57-61,5.DOI:10.11805/TKYDA201401.0057
小型高速无人机控制耦合分析及补偿控制
Control coupling analysis and compensation control of small high speed UAV
付伟 1孙春贞1
作者信息
- 1. 南京航空航天大学 自动化学院，江苏 南京 210016
- 折叠
摘要
Abstract
As the lateral inertia of small high speed Unmanned Aerial Vehicle(UAV) is very small, larger roll angle acceleration will be produced in the control of rudder roll channel, which results in dramatic rolling movement, shows obvious control coupling effect and then affects the lateral control of small high speed UAV. The forming mechanism is introduced according to the system mathematical model, as well as the UAV control process. Considering the control coupling torque that cannot be ignored, a corresponding coupling compensation control law is proposed by using Proportion Integral Derivative(PID) control method. Simulation results show that the method proposed can effectively compensate the control coupling torque.关键词
小型高速无人机/转动惯量/控制耦合/补偿控制Key words
small high speed Unmanned Aerial Vehicle/lateral inertia/control coupling/compensation control分类
信息技术与安全科学引用本文复制引用
付伟,孙春贞..小型高速无人机控制耦合分析及补偿控制[J].太赫兹科学与电子信息学报,2014,(1):57-61,5.
