无人直升机欠驱动飞行控制系统设计与仿真  

Underactuated Flight Control System Design and Simulation of Unmanned Helicopter

作　　者：张庆杰[1] 朱华勇[1] 沈林成[1] 

机构地区：[1]国防科学技术大学机电工程与自动化学院,湖南长沙410073

出　　处：《系统仿真学报》2007年第18期4257-4260,4264,共5页Journal of System Simulation

基　　金：国家安全重大基础研究项目(5130801)

摘　　要：针对无人直升机欠驱动特性,采用多回路反馈方法设计飞行控制系统。为实现内回路的姿态解耦,探讨了对角矩阵法、模型逆及不完全状态反馈三种控制律的设计,并运用极点配置对不完全状态反馈方法进行了补充,提高了控制系统的动态响应特性。飞行轨迹的跟踪则通过外回路来实现。在MATLAB环境下建立了仿真模型,并验证了飞行控制系统设计的有效性。Multi-loop feedback control was employed for underactuated flight control system of unmanned helicopter. Diagonal matrix, model inverse and incomplete state feedback method were discussed to decouple the attitude, and poles configuration was adopted to improve the control system dynamic response for the last method. Trajectory tracking was completed through the outer loop, A model of unmanned helicopter flight control system was built in MATLAB, and the simulation results prove that the control system is efficient.

关 键 词：多回路 姿态解耦 轨迹跟踪 飞行控制系统 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计]