针对无人机飞行参数及气动参数的不确定性问题,根据H∞理论,提出基于回路成形的无人机鲁棒控制器设计方法.以某小型无人机纵向控制系统为例,采用H∞回路成形设计方法,设计了俯仰角保持控制器；通过选取合适的预补偿器和后补偿器,改善系统奇异值曲线形状,应用小增益定理综合H∞鲁棒控制器,并得出鲁棒稳定裕度；进行数字仿真验证,在仿真中加入5 m/s常值风干扰与20％气动参数摄动等不确定性因素,结果表明,闭环系统能在受到干扰后1.1s恢复到平衡状态,且阶跃响应最大调节时间为1.6s,最大超调量为2.4％,说明所设计的控制器具有满意的抗干扰能力和鲁棒稳定性.%In order to solve the problem of the uncertainty of UAV flight parameters and aerodynamic parameters, according to H∞ theory, a method to design UAV robust controller based on loop shaping was discussed. For case study of longitude control system for a small UAV, pitch attitude hold controller was designed using loop shaping design procedure. Selecting the appropriate pre—compensator and post — compensator to improve the singular value curve shape, a robust controller was synthesized and robust stability margin was derived from small gain theorem. The results of simulation which involves 5 m/s constant wind interference and 20% aerodynamic parameter perturbation uncertainties show that the closed loop system returns to equilibrium within 1. 1 second after being disturbed and the maximal settle time is 1. 6 second, the maximal overshoot is 2. 4% , indicating that the anti —interference ability and robust stability of the controller are satisfactory.
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