针对传统全包线控制器设计方法——增益调度法耗时、低效、可移植性差等缺点,提出了基于改进的多目标遗传算法(NSGA-Ⅱ)的自调参控制器设计方法,以提高控制器设计的效率和控制器的鲁棒性;方法中,以无人机系统输出与参考模型输出的误差为目标函数,频域指标为约束,预先设定调参规律,利用NSGA-Ⅱ算法对自动调参系数进行求解,同时实现了固定设计点控制器参数的优化和全状态控制器参数的拟合；运行一次优化程序就得到了全状态控制器;仿真结果表明；在没有人工调参和增益调度插值的情况下,基于NSGA- Ⅱ算法设计的控制器,控制性能良好,证明了设计方法的有效性.%As the traditional method to design various flight control systems, the gain scheduling control is time-consuming, inefficient and not transplantable. To improve the efficiency of the design and robustness of the controller, an automatic parameters tuning design of flight control systems based on NSGA-Ⅱ is implemented in the paper. During the design process, the error between outputs of UAV system and referenced model is selected as the object function, frequency domain targets are selected as the constraints, and parameters tuning law is designed in advance. Better all- state controller is got by optimizing gains and parameter tuning curve at one time. The simulation results show that the controller performs well, which indicates the validity of the design.
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