研究无人机控制器优化设计问题,针对固定参数控制器难以满足无人机大包线飞行品质的问题,用程序调参的思想设计了某型无人机俯仰角的控制系统.首先建立无人机小扰动化线性模型,再利用根轨迹法,设计了无人机平衡点处的俯仰角局部控制器,得到了程序调参增益调度表,最后利用三次样条插值法拟合出了调参曲面,可实现无人机俯仰角的全局程序调参控制,并使无人机达到了一级飞行品质标准.利用Simulink软件迸行仿真的结果表明,所设计的程序调参控制律合理有效,控制系统在整个飞行包线内都具有良好的动态响应性能,证明改进方法具有一定的工程应用价值.%Aiming at the problem that fixed parameter cannot satisfy UAV' s handling qualities requirements in large envelope, the pitching angle control system was designed based on the thought of gain-schedule. Firstly, the UAV s model was linearized under the small disturbance. Secondly, the UAV' s pitching angle controllers in each e-quilibrium point were designed using root locus method and the gain-schedule table was obtained. Then, the gain-schedule surface was designed by cubic spline interpolation. At the last, the UAV' s pitching angle gain-schedule control law was realized, and the level 1 handling qualities requirements were satisfied. Simulation results show that the gain-schedule control law is effect, and the fight control system has good performance in the whole envelope. The integral analysis suggests that the method has some values in engineering applications.
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