某小型高速无人机纵向控制律

为解决小型高速无人机在高速飞行时因纵向静不稳而导致的常规控制律鲁棒性不足的问题，设计基于角 速率指令内回路的纵向控制律。以某型高速靶机为例进行建模及特性分析，设计常规的阻尼内回路纵向控制律，从 参数不确定性的角度分析低速与高速下控制律的鲁棒性差异，提出以角速率指令内回路作为高速段的纵向控制律， 从时域、频域及鲁棒性3 个方面分析论证指令内回路的适用性，并与常规角速率阻尼内回路的控制律进行对比。结 果表明，该指令内回路更适用于小型高速无人机纵向控制。

Longitudinal Control Law of Certain Type Small UAV High-speed

To solve small high speed UAV in the high speed period of longitudinal static instability caused by the problem of insufficient robustness conventional longitudinal control law and design the longitudinal control law based on angular rate instruction inside loop. Taking the certain type high speed target airplane as example to carry out model establishment and feature analysis, design conventional damping inside loop longitudinal control law, and analyze control law robustness difference under low speed and high speed based on parameter uncertainty. Take angular rate instruction inside loop as high speed section longitudinal control law, analyze the instruction inside loop applicability from time domain, frequency domain and robustness, and compare it with the conventional angular rate damping inside loop control law. The results show that the instruction inside loop is more useful for small UAV high speed longitudinal control.