复合式无人直升机姿态自抗扰控制  

Active disturbance rejection control of attitude of compound unmanned helicopter

作　　者：邓柏海 徐锦法[1] DENG Bohai;XU Jinfa(School of Aeronautics,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China)

机构地区：[1]南京航空航天大学航空学院,南京210016

出　　处：《北京航空航天大学学报》2023年第11期3100-3107,共8页Journal of Beijing University of Aeronautics and Astronautics

基　　金：直升机旋翼动力学国家级重点实验室基金资助项目(9140C400504130C4148);江苏高校优势学科建设工程基金资助项目(2021)。

摘　　要：复合式无人直升机涉及多个冗余操纵输入,输入策略不同飞行器输出响应也就不同,该系统则是一个非线性强耦合的被控对象。因系统内部高阶动力学难以建模、外部扰动不明确,给飞行控制系统设计验证带来极大困难。为使复合式无人直升机在整个飞行包线内稳定飞行,姿态控制律设计至关重要。在建立复合式无人直升机运动特性数学模型基础上,设计不同飞行模式操纵策略,构建被控对象Simulink仿真模型。运用自抗扰控制(ADRC)技术设计姿态ADRC器,再以对比方法验证姿态ADRC的控制效果好于姿态比例积分微分PID控制器。仿真结果表明:姿态ADRC的抗干扰性和鲁棒性能满足复合式无人直升机姿态控制要求,确保无人直升机在不同飞行模式下快速稳定飞行。A compound unmanned helicopter is a non-linear and strongly coupled controlled plant with multiple redundant control inputs,and with its response varying with input strategies.The unmodeled internal structure dynamics and unknown external disturbances of the compound unmanned helicopter cause great difficulties in flight control system design.The attitude control law design is crucial for the helicopter to fly stably within the entire flight envelope.Based on a mathematical model for motion characteristics,the control strategies for the helicopter are designed for different flight modes,and the Simulink simulation model of the controlled plant is developed.The active disturbance rejection control(ADRC)of attitude is designed,and the comparison between the attitude ADRC and proportional-integral-derivative(PID)controller is conducted.The control effect of the attitude ADRC is better than that of the attitude PID controller.The simulation demonstrates that the anti-interference and robust performance of the ADRC meet the attitude control requirements for the compound unmanned helicopter,and that the quick and stable flight of the helicopter can be guaranteed for different flight modes.

关 键 词：复合式无人直升机 飞行姿态 自抗扰控制 抗干扰性 鲁棒性 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]