基于PI控制的无人机高度控制系统设计与仿真

摘要

Aiming at the problem of how can the UAV to enter the mission area at a certain altitude and speed to carry out the mission.This paper,desigsns an using proportional plus integral control method to realize the height control of UAV by layer design method from the inner loop to the outer loop;using the loop separation method to analyze the closed-loop transfer function to determine the approximate mathematical model of the height control system.Then according to the time domain method and frequency domain method,the parameters of the time domain and frequency domain response of each group are compared repeatedly in the value range,until a set of optimal parameter values are obtained.Simulation results show that the height control system has good stability and sufficient accuracy,and it has a certain degree of availability.%针对无人机如何以一定的高度和速度进入任务区域进行任务飞行的问题.本文设计出一种运用比例+积分控制的方法来实现无人机的高度控制,采用从内回路到外回路逐层设计的方法;运用回路分离法对闭环传递函数进行分析,确定高度控制系统的近似数学模型.再根据时域法及频域法,在取值范围内反复比较各组参数的时域和频域响应指标,直至得出一组最佳参数值.仿真结果表明,该高度控制系统具有较好的稳定性和足够的精度,具有一定的可用性.