基于H∞回路成形的高速直升机控制器  

High-speed Helicopter Controller Based on H∞ Loop Shaping

作　　者：何伟 陈燕云 杨杰[1] 盛守照[1] He Wei;Chen Yanyun;Yang Jie;Sheng Shouzhao(College of Automation Engineering,Nanjing University of Aeronautic&Astronautics,Nanjing 210016,China)

机构地区：[1]南京航空航天大学自动化学院,南京210016

出　　处：《兵工自动化》2020年第9期74-79,共6页Ordnance Industry Automation

基　　金：南京航空航天大学国防重大项目培育基金(NP201845)。

摘　　要：为解决低空飞行时扰动复杂的问题,设计一种悬停/小速度模式下的双回路抗扰控制器。以复合共轴双旋翼高速直升机为研究对象,构建全量非线性飞行动力学模型,基于高速直升机各状态量的时间尺度差异,结合H∞回路成形控制特点,采用鲁棒控制抑制干扰,运用最优控制完成姿态-位置双闭环控制器设计,并与经典PID控制进行对比仿真验证。仿真结果表明:该控制器对于风场的扰动具有较好的抑制作用,能够很好地实现稳定控制。In order to solve the problem of complicated disturbance during low-altitude flight, a dual-loop anti-disturbance controller in hover/low speed mode is designed. Taking the composite coaxial twin-rotor high-speed helicopter as the research object, a full-scale non-linear flight dynamics model is constructed. Based on the time-scale differences of various state quantities of the high-speed helicopter, combined with the characteristics of H∞ loop shaping control, robust control is used to suppress interference, and optimal control is used to complete attitude-position dual closed-loop controller design, and compared with the classic PID control simulation verification. The simulation results show that the controller has a good suppression effect on the disturbance of the wind field and can achieve stable control.

关 键 词：高速直升机 H∞回路成形 飞行控制 鲁棒设计 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]