超小型旋翼机系统的输出跟踪控制器设计  

Output Tracking Control Design of Subminiature Rotorcraft

作　　者：陈丽[1] 龚振邦[1] 刘亮[1] 

机构地区：[1]上海大学机电工程与自动化学院精密机械系,上海200072

出　　处：《系统仿真学报》2006年第2期500-503,525,共5页Journal of System Simulation

基　　金：国家863基金资助项目(2004AA20110);上海市科技攻关重大专项资助项目(02D211019)

摘　　要：针对复杂的超小型旋翼机系统,利用牛顿-欧拉方法建立了其系统动力学模型,包括了希勒翼的动力学;为了简化控制器设计,利用奇异扰动理论,把复杂的动力学模型降阶为两个子系统,即平移动力学和姿态动力学;采用非线性逆动力学设计了输出跟踪控制器。仿真结果表明该控制器能够跟踪理想的运动轨迹,并能达到稳定的内部姿态和有界的控制输入。The dynamics of a subminiature rotorcraft was given including flybar＇s flapping. Further simplification of the control design process could be realized by dividing the rotorcraft dynamics into translational dynamics and attitude dynamics by using singular perturbation theory. The output tracking control design of the rotorcraft based on nonlinear inverse dynamics was described. The simulation results show that a desired trajectory can be tracked and the proposed control scheme is proved to result in global exponential stability and convergence in the trajectory error.

关 键 词：超小型旋翼机 希勒翼 奇异扰动理论 逆动力学 

分 类 号：V235[航空宇航科学与技术—航空宇航推进理论与工程]