基于干扰观测器的三自由度直升机系统的控制研究  

Research on Control of 3-DOF Helicopter System Based on Disturbance Observer

作　　者：王玲玲 毋飞龙 WANG Lingling;WU Feilong(School of Coast Defense Army,Naval Aviation University,Yantai 264000;No.91213 Troops of PLA,Yantai 264000)

机构地区：[1]海军航空大学岸防兵学院,烟台264000 [2]91213部队,烟台264000

出　　处：《舰船电子工程》2021年第11期37-41,共5页Ship Electronic Engineering

摘　　要：针对抑制飞行器在飞行中受到的干扰信号问题,以三自由度直升机为研究对象,在姿态控制的基础上,设计干扰观测器以保证在干扰下仍能有较好的直升机姿态角控制性能。首先建立三自由度直升机的三个姿态角控制通道的数学模型,联立横侧角通道和旋转速度通道,对俯仰通道和联立后的通道采用PID实现姿态控制;其次以前向通路干扰模拟直升机受到的外界扰动,分析PID控制对常见干扰信号的抑制作用,根据分析结果设计干扰观测器,并给出观测器参数与被控对象参数间的关系。通过仿真分析表明,设计的干扰观测器在满足参数条件下,能使控制回路在有前向通路干扰时,其性能仍能够满足要求,从而使控制系统具备较好地抑制干扰能力。In order to suppress the interference signal of aircraft in flight,a disturbance observer is designed based on the atti⁃tude control for a 3-DOF helicopter to ensure that the helicopter can still have good performance under the interference.Firstly,the mathematical model of three attitude angle control channels of this system is established.The lateral angle channel and the rotation speed channel are combined.PID is used to realize attitude control for the pitch channel and the channel after the combination.Sec⁃ondly,the forward path interference is added to simulate the external disturbance of the helicopter,and the suppression effect of PID control on common interference signals is analyzed,and the interference observer is designed according to the analysis results,and also the relationship between the parameters of the observer and that of the controlled object is given.Finally,the simulation re⁃sults show that the designed disturbance observer can make the performance of the control loop still meet the requirements when there is forward path interference,so that the control system has better ability to suppress the interference.

关 键 词：三自由度直升机 PID控制器 抗干扰 干扰观测器 

分 类 号：TP15[自动化与计算机技术—控制理论与控制工程]