小型无人直升机鲁棒飞行控制  

Robust Flight Control of a Small Unmanned Helicopter

作　　者：何淼磊[1] 贺继林[1] 周烜亦 

机构地区：[1]中南大学机电工程学院,湖南长沙410083

出　　处：《机器人》2016年第3期337-342,351,共7页Robot

基　　金：国家科技支撑计划(2014BAD06B07);湖南省重大科技成果转化项目(2012CK1003)

摘　　要：针对小型无人直升机的全自主飞行控制问题,提出一种基于直升机悬停模型的快速优化H∞鲁棒控制器的设计方法,设计了基于降阶观测器的双闭环的飞行控制器.内环控制器采用H∞鲁棒控制技术,用于直升机飞行姿态的控制;外环控制器采用PD(比例-微分)控制技术,用于机体位移的控制.将设计的鲁棒控制器应用于研制的小型直升机飞行控制系统,实现了风扰环境下直升机的全自主定点悬停飞行.实验验证了该控制方法的有效性和鲁棒性.In order to resolve the autonomous flying control problem of a small unmanned helicopter, a design method for fast-optimization robust H∞ controller is presented based on helicopter hovering model, and a double-closed-loop flying controller based on reduced-order observer is designed. The inner-loop controller uses H∞ robust technology for helicopter flight attitude control, and the outer-loop controller uses PD（proportional-derivative） technology for the helicopter displacement control. The proposed controller is applied to the flight control system of an independently developed miniature helicopter,and the fully autonomous fixed-point hovering flight is realized in interference environment. Experiments demonstrate the effectiveness and robustness of the proposed control approach.

关 键 词：无人直升机 飞行控制 鲁棒控制 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]