伸缩翼无人机能满足多种飞行任务需求,但当变形时,气动力与力矩过渡过程变化剧烈,需要一种鲁棒性较强的控制器来满足控制要求。文中采用LQG控制方法,能有效解决伸缩翼变形无人机的控制问题。文中首先对无人机仿射非线性模型进行线性化处理,随后针对线性化模型设计了LQG控制器,最后针对机翼伸缩过程策略伸缩翼非线性模型进行仿真,明确了LQG控制器方法的有效性和鲁棒性。

Morphing wing unmanned aerial vehicle (UAV) can satisfy multitask requirements, and is a tendency for future UAV. When morphing wing extending or shrinking, aerodynamics and moments vary largely, so a kind of robust controller is needed to satisfy the transitional process. This paper brings out LQG controller which can solve above problems. Firstly, affine nonlinear model of morphing UAV was dealt with, the LQG controller was designed for this linear model, at last, simulation was realized for morphing wing UAV, and control policy was analyzed, thus LQG controller was proved to be valid and robust.