基于低阶干扰估计器的欠驱动三自由度直升机鲁棒控制

doi:10.7527/S1000-6893.2023.29056

Abstract

Abstract:

An active disturbance rejection control strategy based on Uncertainty and Disturbance Estimator （UDE） is designed， analyzed， and validated for underactuated 3-Degree-of-Freedom （3-DOF） helicopter affected by significant model uncertainties and external disturbances. In detail， an attitude trajectory tracking strategy of the elevation and travel angles is developed using feedback linearization based on the idea of full-drive theory for the helicopter experimental setup， which exhibits severe dynamic coupling and obvious underactuated characteristics， while the stabilization of the internal state （pitch angle） is guaranteed. Then， the first-order UDE is further proposed and combined with nominal control law to construct a robust control scheme for the design of the virtual control algorithm of the three channels with inner-outer loop structure， which can effectively compensate for uncertainty and external disturbance of the helicopter. The control scheme addresses the underactuated characteristics of the plant with continuous and smooth control signals， while the disturbance compensator has fewer parameters and the adjustment of system performance is concise and clear. Based on the singular perturbation theory， the convergence of tracking error， the input-state stability of the closed-loop system， and the influence of UDE parameters on the ultimate bound of tracking error are analyzed. In addition， the potential multiple time scale attributes of the system are revealed. The necessity of disturbance compensation， the effectiveness of UDE， and the convenience of control parameters adjustment are verified by both simulation and experimental results.

Key words: 3-DOF helicopter, underactuated system, uncertainty and disturbance estimator, disturbance rejection, time scale, trajectory tracking

CLC Number:

V249

Zixiao YANG, Shiyao LI, Chen WEI, Zhan LI, Bo ZHU. Robust control of underactuated 3-DOF helicopter based on lower order disturbance estimator[J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(1): 629056-629056.

Figures/Tables 16

Fig.1

Table 1

Nominal physical parameters of 3-DOF helicopter

参数	物理意义	数值
$m h$ /kg	直升机质量	1.800
$m b$ /kg	平衡杆质量	0.679
$m c$ /kg	配重块质量	3.433
g/（m·s^-2）	重力加速度	9.807
$I ψ, I ε$ /（kg·m²）	偏航和升降轴转动惯量	1.469
$I θ$ /（kg·m²）	俯仰轴转动惯量	0.032
l_oa /m	系统质心到基座距离	0.223
l_ob /m	配重块到基座距离	0.330
l_oc /m	直升机连接点到基座距离	0.780
l_cd /m	平衡杆到直升机连接点距离	0.100
l_df /m	螺旋桨到连接杆中心距离	0.170

Table 1

Fig.2

Fig.3

Table 2

Identified parameters of 3-DOF helicopter

参数	数值
$b 3$	0.531 0
$c ψ$	0.680 4
$a 1$	0.263 4
$a 2$	1.627 9
$b 1$	0.531 0
$c ε$	0.301 0
$a 3$	25.648 8
$b 2$	5.329 2
$c θ$	0.341 0

Table 2

Table 3

Control parameters used in simulation

参数	数值
$k ψ p, k ε p, k θ p$	0.28， 2.5， 25
$k ψ d, k ε d, k θ d$	1， 2， 20
$T ψ, T ε, T θ$	10， 10， 10
$T ψ, T ε, T θ$	0.1， 0.1， 0.1 10， 10， 5 0.2， 0.2， 0.1

Table 3

Fig.4

Fig.5

Fig.6

Fig.7

Fig.8

Table 4

Control parameters used in experiments

参数	数值
$k ψ p, k ε p, k θ p$	0.28， 2.3， 25
$k ψ d, k ε d, k θ d$	1， 2.2， 20
$T ψ, T ε, T θ$	10， 10， 10
$T ψ, T ε, T θ$	1， 1， 1

Table 4

Fig.9

Fig.10

Table 5

RMSEs of angle obtained in experiments

UDE使用情况	$升降通道 / (°)$	$偏航通道 / (°)$	$俯仰通道 / (°)$
UDE， T=1	0.571 2	3.842 8	0.503 9
UDE， T=10	0.758 5	5.868 6	0.676 6
无UDE	1.631 9	7.241 8	1.732 8

Table 5

Fig.11

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Robust control of underactuated 3-DOF helicopter based on lower order disturbance estimator

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