基于互补滤波的直升机增量非线性动态逆控制  

Incremental nonlinear dynamic inverse control of helicopter based on complementary filtering

作　　者：杨建忠 吴春有 马立群 YANG Jianzhong;WU Chunyou;MA Liqun(College of Safety Science and Engineering,CAUC,Tianjin 300300,China)

机构地区：[1]中国民航大学安全科学与工程学院,天津300300

出　　处：《飞行力学》2023年第4期19-28,共10页Flight Dynamics

基　　金：中央高校基本科研业务基金资助(3122020067);中国民航大学科研启动基金资助(2020KYQD33)。

摘　　要：针对直升机非线性强、控制通道耦合严重、主旋翼与尾旋翼之间气流干扰复杂,造成建模不准确而难以实现高精度姿态控制的问题,采用基于互补滤波的增量非线性动态逆方法设计直升机飞行姿态控制律。首先,针对角加速度估计过程中存在由差分引起的相位滞后和噪声放大问题,采用互补滤波方法避免了微分运算,消除了微分运算的噪声放大效应。然后,在姿态控制回路加入限制结构确保作动器饱和时的跟踪性能。仿真结果表明,所提方法应对模型不确定和惯性不匹配具有较强的鲁棒性和解耦能力,即使作动器出现饱和也能实现姿态跟踪。In order to solve the problems of strong nonlinearity,serious coupling of control channels and complex airflow interference between main rotor and tail rotor,which lead to inaccurate model-ing and difficult to achieve high-precision attitude control,an incremental nonlinear dynamic inverse method based on complementary filtering was used to design the helicopter attitude control law.Firstly,in order to solve the problem of phase lag and noise amplification caused by difference in the process of angular acceleration estimation,the complementary filtering method is used to avoid dif-ferential operation and eliminate the noise amplification effect of differential operation.Then,a lim-iting structure is added to the attitude control loop to ensure a good tracking performance.Simulation results show that the proposed method has a strong robustness and decoupling ability to deal with the model uncertainty and inertia mismatch,and can achieve the attitude tracking even when the actua-tor saturation occurs.

关 键 词：增量动态逆 互补滤波 角加速度估计 伪控制限制 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计] V275.1