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小型无人直升机建模与鲁棒飞行控制

张培康1,郭继峰2,颜鹏1   

  1. 1. 哈尔滨工业大学
    2. 哈尔滨工业大学航天学院航天工程系
  • 收稿日期:2024-06-05 修回日期:2024-06-16 出版日期:2024-06-17 发布日期:2024-06-17
  • 通讯作者: 郭继峰

Modeling and robust flight control of small-scale unmanned helicopter

  • Received:2024-06-05 Revised:2024-06-16 Online:2024-06-17 Published:2024-06-17

摘要: 针对小型无人直升机的建模与鲁棒飞行控制问题,考虑飞行过程中存在的测量噪声、风场扰动以及系统参数变化,提出了一种将H∞混合灵敏度控制与μ综合相结合的串级鲁棒飞行控制框架。首先,构建小型无人直升机非线性动力学模型,包含其推力迭代求解算法、主旋翼挥舞动力学,兼顾模型真实性和计算复杂度。其次,在悬停模态下线性化,为横、纵向通道设计Notch滤波器改善开环欠阻尼特性,降低其控制难度。随后,在鲁棒飞行控制系统中,以保守性较低的μ综合方法实现内环量的快速响应,以H∞混合灵敏度控制抑制干扰对外环量影响。最后,在非标称情形下的仿真试验显示,相较于PID控制,本文设计的鲁棒飞行控制系统具备更稳定的控制效果,证明了其有效性和优越性。

关键词: 小型无人直升机, 挥舞动力学, Notch滤波器, 串级控制系统, H∞混合灵敏度控制, μ综合

Abstract: Aiming at the modeling and robust flight control problem of small-scale unmanned helicopters, considering the measurement noise, wind disturbance, and system parameter perturbation existing during flight, a cascade robust flight control framework combining H∞ mixed sensitivity control and μ synthesis is proposed. Firstly, a nonlinear dy-namics model of the small-scale unmanned helicopter is constructed, including its thrust iterative solution algorithm and main rotor’s flapping dynamics, taking into account the model realism and computational complexity. Secondly, the model is linearized at the hovering mode, and Notch filters are designed for the lateral and longitudinal chan-nels to improve the open-loop underdamping characteristics as to reduce its control difficulty. Subsequently, in the robust flight control system, the fast response of the inner-loop states is realized by the less conservative μ synthesis method, and the influence of disturbances on the outer-loop states is suppressed by the H∞ mixed sensitivity control. Finally, the simulation experiments in the non-nominal case shows that the robust flight control system designed in this paper has more stable control performance compared with the PID control system, proving its effectiveness and superiority.

Key words: small-scale unmanned helicopter, flapping dynamics, Notch filters, cascade control systems, H∞ mixed sensitivity control, μ synthesis

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