无人直升机鲁棒跟踪解耦飞行控制研究  

Robust Tracking Decoupled Flight Control of an Unmanned Helicopter

作　　者：王宏强[1] 王道波[1] Ashfaq Ahmad Mian 段海滨[2] 

机构地区：[1]南京航空航天大学自动化学院,南京210016 [2]北京航空航天大学自动化科学与电气工程学院,北京100083

出　　处：《机械科学与技术》2009年第4期536-541,共6页Mechanical Science and Technology for Aerospace Engineering

基　　金：航空科学基金项目(2006ZC51039)资助

摘　　要：综合考虑直升机不确定性、阵风扰动影响及飞行品质规范对直升机操纵品质的要求,提出了一种基于跟踪解耦的无人直升机鲁棒控制方法。以直升机的稳定性导数及控制导数的有界区间摄动来描述系统的不确定性,通过将不确定性系统的跟踪控制问题转化为增广系统的鲁棒状态反馈镇定问题,以线性矩阵不等式(LM I)形式给出了无人直升机鲁棒跟踪解耦控制器存在的充分条件。基于鲁棒跟踪解耦控制方法设计了直升机平移速度指令(TRC)飞行控制器,并结合直升机操纵品质规范ADS-33E对系统性能进行了评估,分析结果表明了鲁棒跟踪解耦控制方法的有效性。Taking into consideration of the effect of model uncertainty, gust disturbance and handling qualities requirements for a helicopter in Aeronautical Design Standard, ADS-33E-PRF, we propose a robust flight control strategy based on tracking decoupled method for an unmanned helicopter. The uncertainty in the helicopter system is represented as interval variations in stability and control derivatives. By formulating the tracking decoupled problem of the uncertainty system as a robust state feedback stabilization problem of an augmented system, sufficient condition for the existence of robust tracking decoupled controller is derived in the form of linear matrix inequality （LMI）. Based on the proposed method, a Translational Rate Command （TRC） flight controller for a helicopter is designed and its flight performance is verified by ADS-33E. Analysis results show the effectiveness of the proposed method.

关 键 词：无人直升机 飞行控制 参数不确定性 阵风扰动 鲁棒跟踪 解耦 操纵品质 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] V249[自动化与计算机技术—控制科学与工程]