小型无人直升机建模与鲁棒飞行控制

doi:10.7527/S1000-6893.2024.30797

Abstract

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

CLC Number:

V249.1

References

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Modeling and robust flight control of small-scale unmanned helicopter

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