无人直升机悬停姿态控制系统设计  

Attitude Control System Design for Unmanned Helicopter in Hover

作　　者：王小青[1] 黄一敏[1] 孙传伟[2] 

机构地区：[1]南京航空航天大学自动化学院,南京210016 [2]南京航空航天大学直升机旋翼动力学国家级重点实验室,南京210016

出　　处：《南京航空航天大学学报》2008年第5期583-588,共6页Journal of Nanjing University of Aeronautics & Astronautics

摘　　要：显模型跟踪控制技术以特有的优点,在直升机控制中得到了成功应用。以样例无人直升机为控制对象,为其设计了基于显模型跟踪法的悬停姿态控制器,对显模型跟踪控制系统中的显模型模块、逆模型模块及反馈补偿模块作了详细的论述,并以俯仰通道和滚转通道为例,进行了悬停与小速度前飞的数字仿真和非线性仿真验证,取得了满意的控制效果。Explicit model-following （EMF） control is applied to the helicopter control because of its specialty. An attitude control system for an unmanned helicopter in hover is proposed based on the EMF method. The explicit model, inverse model and feedback compensation blocks of the control system are described. The control system is simulated in pitch and roll channels by the helicopter in hover and low speed translation. The result is proved to be effective by linear and nonlinear simulation tests.

关 键 词：无人直升机 飞行控制系统 悬停控制 姿态控制 显模型跟踪 

分 类 号：V249.122[航空宇航科学与技术—飞行器设计]