自旋翼无人机纵向解耦控制技术研究OACSTPCD

For autogyro UAV,a strategy to realize decoupling control under interference is explored.Due to the great sensitivity of UAV to external interference in its flight,the coupling between altitude and speed tends to be easily stimulated under interference.The existing control strategies prioritize speed control at the sacrifice of altitude control performance,leading to poor robustness of altitude control.This paper,therefore,proposes an internal loop control structure of speed up and down command to increase the system's response to altitude difference,and height feedback is added to the propeller control channel to make up for the shortage throttle control.The test and simulation on the decoupling performance and robustness of the improved strategy are conducted,which verifies the reasonable ness and feasiblity the strategy.