传统直升机航迹规划与飞行控制相互独立，飞行跟踪过程中由于扰动等因素产生的累积误差无法适应环境的动态变化，增大了直升机真实飞行路径与障碍物的碰撞风险。针对该现状，本文基于自抗扰控制和改进的人工势场法提出了一种动态避障与飞行控制紧耦合的跟踪策略。将全局路径分解为若干子目标点，飞控系统在完成单个子目标点跟踪后，能通过位置实时反馈进行航迹动态规划，重新生成当前目标点到下一个目标点的安全路径，建立了“规划—跟踪—反馈—再规划”的闭环集成流程，实现了航迹动态规划与跟踪误差的实时修正。构建了一种无量纲效能评估函数，通过仿真任务场景验证了紧耦合方法的有效性，能为直升机辅助驾驶与自主飞行提供安全性高、适应性强的控制框架。
Because the traditional helicopter trajectory planning and the flight control operate independently, the cumulative errors may exist during actual flight tracking task under the uncertain disturbances, which limits its adaptability to dynamic environ-mental changes and increases the risk of collision between the actual flight path and the obstacles. To address this issue, this paper proposes a tightly-coupling tracking strategy for dynamic obstacle avoidance and flight control based on active disturb-ance rejection control (ADRC) and an improved artificial potential field method. The global path is decomposed into several sub-target points, and once completing the tracking of a single sub-target, the flight control system utilizes real-time posi-tional feedback to dynamically replan the trajectory and generate a safe path to the next sub-target. A closed-loop integral workflow of "planning–tracking–feedback–replanning" is established, which enables real-time trajectory replanning and cor-rection of tracking errors. A dimensionless performance evaluation function is formulated, and simulation task scenarios are conducted to validate the effectiveness of the tightly-coupling method. This framework provides a control architecture with high safety and strong adaptability for the helicopter to achieve assisted piloting and autonomous flight.
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