欠驱动系统控制——模拟小型直升机试验平台的应用  

Control of an Under-Actuated System:Application to the Simulated Small Scale Helicopter Platform

作　　者：张亚欧[1] 杜建福[1] 吕恬生 王赓[1] 赵志刚[1] 

机构地区：[1]上海交通大学机械与动力工程学院,上海200240

出　　处：《上海交通大学学报》2008年第4期554-558,共5页Journal of Shanghai Jiaotong University

基　　金：国家自然科学基金资助项目(60475039)

摘　　要：为了设计和验证小型无人直升机的姿态稳定控制器,根据小型无人直升机的基本原理,设计了小型无人直升机试验平台模拟真实小型无人直升机的姿态运动.将旋翼产生的升力作为外力加载在机体上,利用拉格朗日方程建立了简化试验平台的姿态动力学方程.设计以修正PD控制算法为核心的分层递解姿态控制器.把系统一部分状态作为另一部分状态的控制量,将欠驱动问题转化为完全驱动问题,实现试验平台3个姿态角的稳定控制.最后,运用Matlab中的Simulink仿真以及实物试验,验证了所提出的设计方法是正确可行的.In order to design and test a small scale helicopter stable controller without danger, imitating the structure characteristic and fundamental theory of the small scale helicopter, a simulated small scale unmanned helicopter platform built on the ground was designed to simulate the attitude motion of the small scale helicopter. The force exerted by the rotor is looked on as the driven force acted on the body of the simulated small scale helicopter platform, and the dynamic attitude model of the reduced mechanical system with driven force acted on is derived based on the Lagrange-Euler theory. The hierarchical flight control system synthesis attitude controller, by using the modified PD control algorithm as the kernel, was designed. With some states controlling the other states, the under-actuated system can be changed into the full-actuated system. The attitude control of the experimental platform is realized. Finally, the experiment with Simulink simulation in Matlab as well as the real flight test confirms the validity and accuracy of the proposed method.

关 键 词：小型无人直升机 递解控制 欠驱动系统 PD控制器 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置] V233.7[自动化与计算机技术—控制科学与工程]