ACTA AERONAUTICAET ASTRONAUTICA SINICA >
Robust adaptive attitude control of high-speed helicopters in transition mode
Received date: 2023-12-01
Revised date: 2024-02-01
Accepted date: 2024-03-21
Online published: 2024-03-29
During the transition mode， high-speed helicopters possess typical characteristics of control redundancy and control non-affine， and there is a significant effect of aerodynamic interference and uncertainties on the control effectiveness matrix， bringing challenges to attitude control design. This paper proposes a robust adaptive control architecture to address the attitude control problem of the high-speed helicopter in transition flight. Based on the dynamic model of the high-speed helicopter， the control characteristics of its control surfaces are analyzed using control efficiency， and an attitude control strategy of transition mode is developed. Furthermore， an Adaptive Filtered Incremental Nonlinear Dynamic Inversion （AFINDI） control method is proposed to design an angular rate controller， which can effectively compensate for the adverse effects caused by control effectiveness matrix uncertainties and angular acceleration measurement/estimation errors. Then， according to the changing control authorities of coaxial rotors and empennages， an incremental allocation strategy with the weight coefficients of control surfaces is established to guarantee smooth conversion between helicopter and fixed-wing control modes in transition flight. Finally， compared with the conventional incremental nonlinear dynamic inversion control method， the proposed attitude controller has better control performance and robustness.
Yuqing QIU , Yan LI , Jinxi LANG , Yuxian LIU , Zhong WANG . Robust adaptive attitude control of high-speed helicopters in transition mode[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2024 , 45(9) : 529927 -529927 . DOI: 10.7527/S1000-6893.2024.29927
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