基于鲁棒伺服 LQR的无人机横航向自动着陆控制律设计

Design of Lateral Autoland Control Law for UAV Based on Robust Servo LQR

摘要:

针对无人机自动着陆过程中外部不确定性强,影响控制精度和飞行安全的问题,提出一种基于鲁棒伺服线性摘二次型(Linear Quadratic Regulator,LQR)的横航向自动着陆控制律设计方法。基于鲁棒伺服 LQR设计滚转姿态保持内回路,设计航向保持/预选模态和航向信标(Localizer,LOC)截获与跟踪模态,实现横航向轨迹的稳定与精确跟踪。数字仿真结果表明,该方法具有较好的控制效果。

Abstract:

To solve the problems of control accuracy and safety which were influenced by external uncertainties in the pro?cess of automatic landing for UAV, a lateral autoland control law design method was presented based on robust servo LQR.First, roll hold mode was designed as inner loop of control using robust servo LQR method. Then, head hold/select mode ,LOC capture and track mode were designed for stable and accurate tracking of lateral trajectory. Simulation results showthe proposed method has a good control effect.