共轴式直升机建模与基于ESO的LTV MPC设计  

Modeling of Coaxial Helicopter and LTV MPC Design Base on ESO

作　　者：黄扬炼 双丰 周翔 HUANG Yang-lian;SHUANG Feng;ZHOU Xiang(College of Electrical Engineering,Guangxi University,Nanning Guangxi 530004,China)

机构地区：[1]广西大学电气工程学院,广西南宁530004

出　　处：《计算机仿真》2022年第12期28-33,共6页Computer Simulation

基　　金：中国自然科学基金(61720106009,61773359)。

摘　　要：考虑直升机在飞行过程中面临的外界风扰问题,为直升机姿态环设计一种基于扩张状态观测器(ESO)的线性时变模型预测控制器(LTV MPC)。对共轴双旋翼直升机进行动力学建模得到6自由度非线性数学模型,并通过实验数据进行模型验证。设计扩张状态观测器以观测系统在角速度通道的实时总扰动力矩,并将观测到的扰动力矩补充到直升机非线性模型的角速度微分方程中,将补充扰动力矩后的非线性模型进行泰勒展开得到直升机的线性时变(LTV)模型,以此线性时变模型作为预测模型,为直升机设计线性时变模型预测控制器。最后通过与多种控制算法进行仿真对比,验证了所设计控制器良好的姿态跟踪性能和强抗扰动性能。Considering the external wind disturbance faced by the helicopter during flight, a linear time-varying model predictive controller(LTV MPC) based on the extended state observer(ESO) is designed for the helicopter attitude loop. Firstly, the dynamic model of the coaxial twin-rotor helicopter was established, and the 6-DOF nonlinear mathematical model was obtained, which was verified by the experimental data. Then, the ESO was designed to observe the real-time total disturbance torque of the system in the angular velocity channel, and the observed disturbance torque was added to the angular velocity differential equation of the nonlinear model of the helicopter. The nonlinear model with the added disturbance torque was expanded by Taylor expansion to obtain the linear time-varying(LTV) model of the helicopter. Based on this LTV model, an LTV MPC was designed for the helicopter. Finally, the simulation results show that the designed controller has good attitude-tracking performance and strong anti-disturbance performance.

关 键 词：扩张状态观测器 扰动观测 线性时变模型预测控制 共轴双旋翼直升机建模 姿态控制 

分 类 号：V271.4[航空宇航科学与技术—飞行器设计]