Lateral directional fractional order (PI) π control of a small fixed-wing unmanned aerial vehicles: controller designs and flight tests
Lateral directional fractional order (PI) π control of a small fixed-wing unmanned aerial vehicles: controller designs and flight tests
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DOI：
10.1049/iet-cta.2010.0314
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发表时间：
2011-12
影响因子：
2.6
通讯作者：
Ying Luo;Haiyang Chao;L. Di;Y. Chen
中科院分区：
文献类型：
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作者：
Ying Luo;Haiyang Chao;L. Di;Y. Chen
在本研究中，开发并实现了分数阶 (PI)λ 控制器，以提高小型固定翼无人机 (UAV) 的飞行控制性能和鲁棒性。在一定条件下实现了解耦滚道控制，并使用本研究中设计的控制器进行了测试。利用飞行试验数据将滚道内闭环系统近似识别为一阶加时滞模型。为了进行比较，基于所确定的滚动通道控制模型，按照修改后的齐格勒-尼科尔斯（MZNs）调整规则设计了整数阶 PI 控制器。根据三种设计预定规范，针对小型固定翼无人机滚滚通道飞行控制系统设计了整数阶比例积分微分（PID）、分数阶PIλ和（PI）λ控制器。这三个设计的控制器共享相同的增益交叉频率和相位裕度设置，以便进行公平比较。从仿真和实际飞行实验来看，两种设计的分数阶控制器优于 MZNs PI 和设计的整数阶 PID 控制器。设计的(PI)λ控制器可以实现比设计的PIλ控制器更好的性能。
In this study, a fractional order (PI)λ controller is developed and implemented to improve the flight control performance and robustness of a small fixed-wing unmanned aerial vehicle (UAV). The decoupled roll-channel control is realised under certain conditions and tested using the designed controllers in this study. The inner closed-loop system of the roll-channel is approximately identified as a first-order plus time delay model using the flight test data. For comparison purpose, an integer-order PI controller is designed following the modified Ziegler–Nichols (MZNs) tuning rule, based on this identified roll-channel control model. According to three design pre-specifications, the integer-order proportional integral derivative (PID), fractional-order PIλ and (PI)λ controllers are designed for the roll-channel flight control system of a small fixed-wing UAV. These three designed controllers share the same gain crossover frequency and phase margin settings for fair comparisons. From both simulation and real flight experiments, the two designed fractionalorder controllers outperform the MZNs PI and the designed integer-order PID controllers. The designed (PI)λ controller can achieve even better performance than the designed PIλ controller.