Modeling and Sliding Mode Control with Boundary Layer for Unmanned Coaxial Rotor Ducted Fan Helicopter  

作　　者：Chen Zhi Wang Daobo Zeng Ziyang Wang Biao 

机构地区：[1]College of Automation Engineering,Nanjing University of Aeronautics and Astronautics

出　　处：《Transactions of Nanjing University of Aeronautics and Astronautics》2016年第2期199-207,共9页南京航空航天大学学报（英文版）

基　　金：supported by the National Natural Science Foundation of China(Nos.61304223;61374116;61503185);Specialized Research Fund for the Doctoral Program of Higher Education(20123218120015)

摘　　要：The structure and modeling of a novel unmanned coaxial rotor ducted fan helicopter(RDFH)are introduced,and then,based on the helicopter air dynamics and kinematics principles,a nonlinear model of the coaxial rotor ducted fan helicopter is developed and implemented on the basis of the wind tunnel experiment.After that,the helicopter′s stability and coupling characteristics of manipulation are analyzed through time-domain.Finally,a sliding mode controller(SMC)with boundary layers is developed on a hardware in the loop platform using digital signal processor(DSP)as the flight control computer.The results show that the RDFH′s tracking ability performs well under the use of proposed controller.The structure and modeling of a novel unmanned coaxial rotor ducted fan helicopter （RDFH） are introduced, and then, based on the helicopter air dynamics and kinematics principles, a nonlinear model of the coaxial rotor ducted fan helicopter is developed and implemented on the basis of the wind tunnel experiment. After that, the helicopterts stability and coupling characteristics of manipulation are analyzed through time-domain. Finally, a sliding mode controller （SMC） with boundary layers is developed on a hardware in the loop platform using digital signal processor （DSP） as the flight control computer. The results show that the RDFH＇s tracking ability performs well under the use of proposed controller.

关 键 词：MODELING COAXIAL ROTOR ducted fan HELICOPTER (RDFH) TIME-DOMAIN analysis sliding mode controller(SMC) 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计] V275.1