基于陷波器整形的无人直升机滚转姿态控制律设计与验证  

Roll Attitude Controller Design and Validation for Unmanned Helicopter Based on Notch Filter Shaping

作　　者：刘宝 顾冬雷 胡帮亚 计宏伟 黄兵旺 LIU Bao;GU Donglei;HU Bangya;JI Hongwei;HUANG Bingwang(Nanjing Research Institute on Simulation Technique,Nanjing,210016,China.)

机构地区：[1]南京模拟技术研究所

出　　处：《集成电路应用》2019年第8期28-30,共3页Application of IC

摘　　要：在某型无人直升机横向通道控制律设计时,由于中高频存在二阶共振特性,采用常规PID控制器无法提高姿态响应速度,通过研究基于二阶陷波器整形的方法,消除了无人直升机横向通道的二阶共振峰,提高了控制器的增益和滚转姿态响应速度,并开展了悬停状态试飞调参对比实验。实验结果表明:采用基于陷波器整形的PID控制器比常规PID控制器增益提高了3.5倍以上,并提高了滚转通道的阻尼比,使得滚转姿态响应更加迅捷、无振荡,提高了滚转姿态跟踪控制飞行品质。In the design of the lateral channel control law of a type of unmanned helicopter,conventional PID control cannot improve the attitude response speed due to second-order resonance in middle-high frequency.The second-order notch filter shaping method is used to eliminate the secondorder resonance peak in the lateral channel of unmanned helicopter,to improve the gain and roll attitude response speed of the controller,and to conduct the flight test parameter comparison experiment in hover state.Experiment results show that the gain of the PID controller based on notch filter shaping is increased by more than 3.5 times compared with the traditional PID controller,the damping ratio of the roll channel is in creased and the roll attitude response is non-oscillation and more rapid,which improves the control flight quality of roll attitude tracking.

关 键 词：陷波器整形 姿态控制 高增益控制 无人直升机 

分 类 号：TN925[电子电信—通信与信息系统]