基于H_∞回路成形的无人直升机动态逆控制研究  

Research on dynamic inverse control of unmanned helicopter based on H_∞ loop-shaping

作　　者：户艳鹏 李书[1] 杨延平 马晓平 HU Yan-peng;LI Shu;YANG Yan-ping;MA Xiao-ping(School of Aeronautic Science and Engineering,Beihang University,Beijing 100191,China;Institute of Engineering Thermophysics,Chinese Academy of Science,Beijing 100190,China)

机构地区：[1]北京航空航天大学航空科学与工程学院,北京100191 [2]中国科学院工程热物理研究所,北京100190

出　　处：《飞行力学》2019年第6期79-83,共5页Flight Dynamics

基　　金：中国科学院战略性先导科技专项基金资助(XDA17020401)

摘　　要：针对微小型无人直升机动力学模型的控制需求,结合H_∞回路成形控制和动态逆控制的特点,分别将动态逆算法应用到角速率控制回路和姿态角控制回路,同时应用H_∞回路成形控制方法对姿控模型进行成形,建立3通道控制器,并与经典PID控制效果进行了仿真对比。仿真结果表明,基于H_∞回路成形的动态逆控制在控制效果及抗扰能力上优于经典PID控制律。在此基础上,采用AF25B微小型无人直升机飞行验证平台对算法进行了初步飞行验证。In view of the dynamic model control requirements of miniature unmanned helicopter,combine H_∞loop-shaping with dynamic inverse control,the dynamic inverse algorithm is applied to the angle rate control and attitude angle control,the H_∞loop shaping control method is applied to the attitude control model,and a three-channel controller is established and compared with the classical PID control.The results show that the H_∞loop-shaping with dynamic inverse control is better than the classical PID control law in control effect and anti-disturbance ability.The flight verification platform of AF25 B unmanned mini-helicopter is used to validate the algorithm.

关 键 词：微小型无人直升机 H_∞回路成形 动态逆 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计]