通过卫星进行远距离控制的“人在回路中”无人机系统存在较大的时间延迟。延时可能引起系统的不稳定。为了改善延时系统的性能,需要对系统进行延时补偿。考虑对无人机的操作通过人-机界面来完成的特点,基于模型预测算法估计出系统延时量的未来状态,用估计出的状态变量作为输出,这样就补偿了系统的传输延时。对某飞机俯仰角控制回路进行了设计,仿真结果表明使用该补偿方法减小了延迟对系统的影响。

There is large time delay in'man-in-the-loop' unmanned aircraft vehicle (UAV) system controlled by satellite communication. Time delay can lead to the system being unstable. For improving the performance of the delayed system, it needs to be compensated. Considering the character that the UAV is operated through man-machine interface, the future aircraft state was predicted based on modeled-aircraft predictive algorithm. The estimated state variable was used as the output of the delayed system to compensate the transmission delay. An aircraft's pitch angle control loop was designed. The simulation results indicate the compensation algorithm used is effective for decreasing the effect of time delay on systems.