小型无人直升机控制及稳定性分析  

Conntorl and Stability Analysis of a Small Unmanned Helicopter

作　　者：樊世伟[1] 薛东彬[1] 

机构地区：[1]中国电子科技集团公司第二十七研究所,郑州450047

出　　处：《电光系统》2014年第1期32-35,共4页Electronic and Electro-optical Systems

摘　　要：文章介绍了线性和非线性控制法则两种控制律设计方法在小型直升机上的应用，采用双时域衡量分析方法来分析直升机系统动力学特性。紧子系统和慢子系统分别用于分析直升机转动和平动动力学特性，紧子系统的稳定性是由李亚普诺夫方程保证，同时采用反馈线性化方法稳定控制内回路。此外，在给出线性控制律缺点的同时给出了改进后的非线性控制律，该控制律可以在无人直升机执行大角度、快速度飞行运动科目时更稳定可靠的控制直升机。The paper introduces the application of both linear and non-linear control laws on small unmanned helicopter. The method of two-time scale decomposition has been used to analyze the dynamic behavior of the helicopter system. The fast subsystem copes with the rotational dynamics, while the slow subsystem represents the translational dynamics. The stability of the fast dynamics is assured by Lyapunov functions and feedback linearization technique is proposed to stabilize the inner loop. Moreover, the drawbacks of the linear control laws are pointed out and a new nonlinear control law is proposed. This new control law is able to control the helicopter more stable and reliable when large variations occur in the orientation angles and position of the helicopter.

关 键 词：无人直升机控制 稳定性分析 双时域衡量分析 李亚普诺夫稳定性 反馈线性化 非线性控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]