直升机姿态的自抗扰滑模复合控制器设计  

Composite Controller Design of Helicopter Attitude Based on ADRC and SMC

作　　者：董睿 朱汉 盛守照[1] DONG Rui;ZHU Han;SHENG Shouzhao(Nanjing University of Aeronautics and Astronautics,Nanjing 211100,China)

机构地区：[1]南京航空航天大学,南京211100

出　　处：《电光与控制》2020年第11期86-90,共5页Electronics Optics & Control

基　　金：南京航空航天大学国防重大项目培育基金(NP201845)。

摘　　要：针对直升机易受系统不确定性影响和大多数控制器对模型依赖度高等问题,设计了基于非线性自抗扰和非奇异终端滑模方法的姿态复合控制器。首先,建立直升机全量非线性动力学方程,获得带扰动项的各姿态通道模型。其次,采用自抗扰控制框架,设计非线性扩张观测器和改进的全局快速非奇异终端滑模控制器,降低模型依赖程度,获得直升机姿态的快速响应和优良抗扰特性。最后,通过仿真对比分析,所设计的复合控制器在直升机姿态跟踪、抗扰方面效果较好。In the field of helicopter control,an attitude composite controller based on nonlinear active disturbance rejection and non-singular terminal sliding mode method is designed to solve the problem that the helicopter is susceptible to system uncertainty and most controllers are highly model-dependent.Firstly,the full nonlinear dynamics equation of helicopter is established to obtain each of the attitude channel models with disturbance term.Secondly,the framework of Active Disturbance Rejection Control(ADRC) is adopted to design the nonlinear extended state observer and the global fast non-singular terminal Sliding Mode Controller(SMC),which can reduce the dependence on the model and realize the rapid response of the helicopter attitude with excellent disturbance rejection characteristics.The simulation results show that the proposed composite controller is effective in helicopter attitude tracking and disturbance rejection.

关 键 词：直升机控制 姿态跟踪 自抗扰控制 滑模控制 

分 类 号：TP273+.3[自动化与计算机技术—检测技术与自动化装置]