旋翼飞行器姿态控制对燃料晃荡扰动的抑制  

On design of attitude controller for rotor aircraft with fuel sloshing disturbance

作　　者：刘佳琦[1] 梁悦[1] 尹航[1] 高晓智 李雪玲 

机构地区：[1]哈尔滨工业大学航天学院,黑龙江哈尔滨150001 [2]阿尔托大学电气工程与自动化系,芬兰埃斯波00076 [3]天津航天中为数据系统科技有限公司,天津300301

出　　处：《电机与控制学报》2015年第8期101-106,共6页Electric Machines and Control

基　　金：国家自然科学基金(61273095;61304006)

摘　　要：针对燃料晃荡对旋翼飞行器燃料箱壁撞击产生的姿态扰动问题,采用质量-弹簧-阻尼模型表示燃料晃荡对系统的作用,通过理论分析与实验数据;确定飞行器控制电压与螺旋桨转速及升力之间的关系,建立燃料晃荡扰动下飞行器的非线性动力学模型,提出一种滑模变结构控制的方法,有效抑制了燃料晃荡带来的扰动。进一步搭建了二自由度半实物仿真系统验证算法的优越性与实用价值,与尽可能优化参数的PID控制算法对比,提出的滑模变结构控制方法能够在较小的能量输入下更好地抑制燃料晃荡引起的扰动问题,使系统的姿态控制具有更为理想的鲁棒性。Fuel sloshing is the unwanted attitude disturbance of rotor aircraft which represents the force of the fuel impact the tank wall. The fuel sloshing model used for rotor aircraft represents each sloshing mode as a mass-spring-damper system. Then a nonlinear dynamic model was achieved by theoretical and empirical method to determine the relationship among the voltage, the speed of the propeller and the lift force. A sliding mode controller was developed and compared with a optimized PID controller in terms of fuel sloshing disturbance. Furthermore, the hardware in the loop simulation system with two degree of freedom was given to demonstrate the validity of the algorithms. The result shows that a little input effort can achieve a better robust performance by adopting the sliding mode controller than the PID controller.

关 键 词：旋翼飞行器 燃料晃荡 姿态干扰 非线性系统 滑模控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]