小型无人直升机建模与鲁棒飞行控制
收稿日期: 2024-06-05
修回日期: 2024-06-12
录用日期: 2024-06-13
网络出版日期: 2024-06-17
基金资助
黑龙江省自然科学基金优秀青年基金(YQ2022F012);中央高校基本科研业务费专项资金(HIT.OCEF.2023010)
Modeling and robust flight control of small-scale unmanned helicopter
Received date: 2024-06-05
Revised date: 2024-06-12
Accepted date: 2024-06-13
Online published: 2024-06-17
Supported by
Natural Science Foundation of Heilongjiang Province of China(YQ2022F012);The Fundamental Research Funds for the Central Universities(HIT.OCEF.2023010)
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。
张培康 , 郭继峰 , 颜鹏 . 小型无人直升机建模与鲁棒飞行控制[J]. 航空学报, 2024 , 45(S1) : 730797 -730797 . DOI: 10.7527/S1000-6893.2024.30797
To address the modeling and robust flight control problem of small-scale unmanned helicopters， a cascade robust flight control framework combining H∞ mixed sensitivity control and μ synthesis is proposed， considering the measurement noise， wind disturbance， and system parameter perturbation during flight. Firstly， a nonlinear dynamics model of the small-scale unmanned helicopter， including its thrust iterative solution algorithm and main rotor’s flapping dynamics， is constructed， taking into account the model authenticity and computational complexity. Secondly， the model is linearized at the hovering mode， and Notch filters are designed for the lateral and longitudinal channels to improve the open-loop underdamping characteristics， so as to reduce its control difficulty. Subsequently， in the robust flight control system， 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 H∞ mixed sensitivity control. Finally， 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.
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