基于无人机平台的天线测试系统高效控制技术
Efficient control technology for antenna testing system based on UAV platform
王昕宇1
作者信息
- 1. 南京海清科技有限公司,江苏 南京 210036
- 折叠
摘要
为了获得相控阵天线在不同工作环境下的波束形状和参数,需要在无人机上安装微型接收机,精确控制无人机的空间位置并测量接收功率.由于无人机外场使用时存在阵风干扰,很难精准控制无人机的位置和姿态,研究了基于PID+LQR的内外回路鲁棒控制器,并将其应用于四旋翼无人机中.通过对控制器的超调量和响应时间进行仿真分析可知,在6级以下风扰条件下,该控制器能够很好地控制四旋翼无人机的位置和姿态,满足相控阵天线参数测量的需求.
Abstract
In order to obtain the beam shape and parameters of phased array antennas in different working en-vironments,it is necessary to install a micro-receiver on the drone,which accurately controls the spatial position of the drone and measures its received power.Due to gust interference during the use of drones in the outfield,it is difficult to accurately control the position and attitude of the drone.A robust controller based on PID+LQR al-gorithm for the inner and outer loops is studied and applied to a quadcopter drone.The simulation analysis of the overshoot and time response result of the controller shows that under wind disturbance conditions below level 6,the controller can effectively control the position and attitude of the quadcopter drone,which meets the require-ments of phased array antenna parameter measurement.
关键词
微型接收机/无人机/PID控制/LQR控制Key words
micro-receiver/quadcopter drone/PID control/LQR control引用本文复制引用
出版年
2024
NETL
NSTL
万方数据