基于动力学模型的小型无人直升机自主飞行控制算法  

Flight Control Algorithm for Autonomous Small Size Helicopter Based on Dynamical Model

作　　者：王赓[1] Konstantin Kondak 盛焕烨[1] 吕恬生 季钢[3] Günter Hommel 

机构地区：[1]上海交通大学计算机科学与工程系 [2]Faculty of Electrical Eng.and Computer Science,Technische Universitt Berlin,10587 Berlin [3]上海交通大学工程训练中心

出　　处：《上海交通大学学报》2007年第11期1758-1763,共6页Journal of Shanghai Jiaotong University

基　　金：国家自然科学基金资助项目(60475039);中德PPP合作项目

摘　　要：引入小型无人直升机简化动力学模型,阐述了简单、高效的MTC(Model and Trajectorybased Controller)控制算法.基于该算法所实现的飞行控制算法包括两部分:基于转动动力学模型的直升机姿态控制和基于二次积分关系的位置控制.所设计的MTCV算法包含具有良好鲁棒性的位置控制及速度控制功能,并可用于直升机多航点路径的不减速连续飞行控制.仿真实验和实际飞行控制实验结果表明,本飞行控制算法具有有效性和实用性.The mathematical model of a small size helicopter was described. A simple but effective model and trajectory based controller （MTC） control algorithm was presented. The flight control algorithm is composed of two parts： orientation controller based on the model for rotation dynamics and robust position controller for a double integrator. The MTCV algorithm is used to achieve position control, velocity control and no stopping multi-way-point flight control. The simulation result and the performance in real flight experiment demonstrate the controller presented in this paper is a successful and practical flight controller for small size helicopter with a stiff main rotor.

关 键 词：无人直升机 动力学模型 自主飞行 飞行控制 无人机 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]