六自由度无人直升机位置和偏航角跟踪控制  

A Stable Tracking Control Method for Position and Yaw Angle of 6-DOF Unmanned Helicopter

作　　者：黄鑫 吉月辉 HUANG Xin;JI Yue-hui(College of Mechanical-Electrical Engineering and Automation,Tianjin Vocational Institute,Tianjin 300410,China;College of Electrical and Electronic Engineering,Tianjin University of Technology,Tianjin 300384,China;Tianjin Key Laboratory for Control Theory&Applications in Complicated Systems,Tianjin University of Technology,Tianjin 300384,China)

机构地区：[1]天津职业大学机电工程与自动化学院,天津300410 [2]天津理工大学电气电子工程学院,天津300382 [3]天津理工大学天津市复杂系统控制理论及应用重点实验室,天津300382

出　　处：《控制工程》2020年第5期842-847,共6页Control Engineering of China

基　　金：国家自然科学基金(61603274);天津市教委科研计划项目(2017KJ249)。

摘　　要：针对六自由度直升机的结构复杂、非线性和多变量等问题,提出一种基于指令滤波反步法的位置和偏航角稳定跟踪控制的方法。首先,为便于控制系统设计,将六自由度直升机动力学模型分为高度、偏航、水平3个子系统,并采用指令滤波反步法对直升机位置/偏航角控制系统进行设计。其次,引入非线性反正切滤波器逼近虚拟控制输入,解决直升机控制系统中采用传统反步法所产生的"计算膨胀"问题,并采用奇异扰动定理证明闭环系统的稳定性。最后,通过仿真验证了该滤波反步法控制器对直升机位置和偏航角跟踪参考轨迹信号的良好控制性能。To deal with the problem that 6-DOF helicopter has the characteristics of complex structure,non-linearity and multi-variable,a stable tracking control method for position and yaw angle based on command filtered back-stepping technology is proposed.Firstly,to facilitate the control design,the helicopter dynamic model is divided into three subsystems:altitude subsystem,yaw subsystem and horizontal subsystem.The position/yaw angle control system of 6-DOF helicopter is designed by command filtered back-stepping.Secondly,a nonlinear anti-tangent filter is adopted to estimate the virtual control,to solve the problem of"explosion of complexity"caused by traditional back-stepping method in helicopter control system.The stability of closed-loop system is proved by singular-perturbation theorems.Finally,through simulation experiments,the good control performance of the filter back-stepping controller for position and yaw angle of helicopter tracking reference trajectory signal is verified.

关 键 词：直升机 跟踪控制 指令滤波 反步法 奇异扰动定理 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]