基于低阶干扰估计器的欠驱动三自由度直升机鲁棒控制  

Robust control of underactuated 3⁃DOF helicopter based on lower order disturbance estimator

作　　者：杨梓霄 李世尧 魏晨 李湛 朱波 YANG Zixiao;LI Shiyao;WEI Chen;LI Zhan;ZHU Bo(School of Aeronautics and Astronautics,Sun Yat-Sen University,Shenzhen 518107,China;School of Astronautics,Harbin Institute of Technology,Harbin 150001,China)

机构地区：[1]中山大学航空航天学院,深圳518107 [2]哈尔滨工业大学航天学院,哈尔滨150001

出　　处：《航空学报》2024年第1期143-158,共16页Acta Aeronautica et Astronautica Sinica

基　　金：国家自然科学基金(62373386,61973327)。

摘　　要：针对模型不确定且外部未知扰动影响显著的欠驱动三自由度(3-DOF)直升机,本文设计、分析并实验验证了一种基于不确定性与干扰估计器(UDE)的主动抗扰控制策略。具体地,针对该直升机平台动力学耦合严重且存在欠驱动特性等问题,基于全驱动系统控制思想,发展了一种基于反馈线性化的升降角和偏航角轨迹跟踪策略,同时实现了内部状态(俯仰角)的镇定;在内外环三通道虚拟控制中,进一步设计了一阶UDE,并联合UDE和标称控制,构建了可有效补偿三通道模型不确定和外部扰动的鲁棒控制方案。该方案较好应对了被控对象的欠驱动特性,控制信号连续且光滑,同时干扰补偿器还具有设计参数少、性能调节简单且清晰等优点。借助于奇异摄动理论,分析了闭环系统跟踪误差的收敛性、输入-状态稳定性、及UDE参数对误差最终界的影响规律,揭示了闭环控制系统潜在的多时间尺度属性。仿真和实验结果验证了干扰补偿的必要性,UDE的有效性和其调参的便捷性。An active disturbance rejection control strategy based on Uncertainty and Disturbance Estimator(UDE)is designed,analyzed,and validated for underactuated 3-Degree-of-Freedom(3-DOF)helicopter affected by significant model uncertainties and external disturbances.In detail,an attitude trajectory tracking strategy of the elevation and travel angles is developed using feedback linearization based on the idea of full-drive theory for the helicopter experi⁃mental setup,which exhibits severe dynamic coupling and obvious underactuated characteristics,while the stabiliza⁃tion of the internal state(pitch angle)is guaranteed.Then,the first-order UDE is further proposed and combined with nominal control law to construct a robust control scheme for the design of the virtual control algorithm of the three chan⁃nels with inner-outer loop structure,which can effectively compensate for uncertainty and external disturbance of the helicopter.The control scheme addresses the underactuated characteristics of the plant with continuous and smooth control signals,while the disturbance compensator has fewer parameters and the adjustment of system performance is concise and clear.Based on the singular perturbation theory,the convergence of tracking error,the input-state stabil⁃ity of the closed-loop system,and the influence of UDE parameters on the ultimate bound of tracking error are ana⁃lyzed.In addition,the potential multiple time scale attributes of the system are revealed.The necessity of disturbance compensation,the effectiveness of UDE,and the convenience of control parameters adjustment are verified by both simulation and experimental results.

关 键 词：三自由度直升机 欠驱动系统 不确定性与干扰估计器 干扰抑制 时间尺度 轨迹跟踪 

分 类 号：V249[航空宇航科学与技术—飞行器设计]