复合式共轴无人直升机低速飞行的姿态控制研究  

Research on attitude control of compound coaxial unmanned helicopter at low speed

作　　者：范欣林 王立峰[1] 钟伦超 Fan Xinlin;Wang Lifeng;Zhong Lunchao(North China University of Technology,Beijing 100144,China;Beijing Zhonghangzhi Technology Co.,Ltd.,Beijing 100176,China;Tsinghua Shenzhen International Graduate School,Tsinghua University,Shenzhen 518000,China)

机构地区：[1]北方工业大学,北京100144 [2]北京中航智科技有限公司,北京100176 [3]清华大学深圳国际研究生院,深圳518000

出　　处：《电子测量技术》2020年第12期12-17,共6页Electronic Measurement Technology

基　　金：深圳市科技计划基础研究自由探索项目(No.JCYJ20180306174135470)资助。

摘　　要：以“共轴直升机+推进螺旋桨”构型的复合式高速共轴直升机为研究对象,重点研究复合式高速直升机在低速飞行模式下的动力学建模和飞行控制技术,建立了复合式高速共轴直升机的全量非线性数学模型。在此基础上,结合小扰动线性化模型理论对非线性数学模型进行线性化,简化被控对象。采用H∞混合灵敏度GS/T控制理论对低速飞行阶段的姿态进行控制律设计,并进行了仿真验证。实验表明,在输入控制量上注入高频噪声依然能得到稳定的姿态。The compound helicopter is based on the configuration of"coaxial helicopter+propulsion propeller",and focuses on the dynamic modeling and flight control technology in the low-speed flight mode.The full nonlinear mathematical model of the compound high-speed coaxial helicopter is established.On this basis,the nonlinear mathematical model is linearized with the theory of small perturbation linearization model to simplify the controlled object.H∞mixed sensitivity GS/T control theory is used to design the attitude control law for the low-speed flight stage,The experimental results show that the stable attitude can still be obtained by injecting high frequency noise into the input control.

关 键 词：复合式直升机 H∞控制 直升机建模与仿真 混合灵敏度 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计] TP202[自动化与计算机技术—检测技术与自动化装置]