针对一种大展弦比、V形尾翼常规布局小型无人机,在低空低速大扰动条件下飞行的飞行控制策略进行了研究。对无人机运动状态建模分析,设计了一种自适应PID控制器,采用六自由度非线性运动模型进行控制率的仿真验证,并将算法融合在定姿、定高和定航迹跟踪飞行控制实验中。仿真及实际飞行实验结果表明,所设计的自适应PID控制器有效的抑制了大扰动条件下对飞机姿态、位置的影响,满足了飞行任务的需求,并获得了良好的动态性能指标。

According to a high aspect ratio and V-shaped empennage UAV, a flight control strategy in low altitude and low speed with large disturbance was researched. The UAV's motion state was simulated and analyzed. Using six-degree-freedom nonlinear equations, an adaptive PID controller was designed. By applying the designed algorithm to the experiment of fixed-attitude, fixed-high and flight-path tracking, the adaptive controller effectively inhibited the influence of large disturbance on the UAV's attitude and position. The simulation and experimental results show that the controller meets the requirement of the flight missions and the dynamic performance is well realized.