共轴高速直升机增益自适应多模式切换控制  

Gain adaptive multi-mode switching control for coaxial high-speed helicopter

作　　者：郑峰婴[1] 沈志敏 李雅琴 徐楷钊 王新华[2] ZHENG Fengying;SHEN Zhimin;LI Yaqin;XU Kaizhao;WANG Xinhua(College of Astronautics,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China;College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China)

机构地区：[1]南京航空航天大学航天学院,南京210016 [2]南京航空航天大学自动化学院,南京210016

出　　处：《航空学报》2024年第9期211-228,共18页Acta Aeronautica et Astronautica Sinica

基　　金：国家自然科学基金(61803200,61973158);装备预研重点实验室基金(6142220180304)。

摘　　要：针对共轴双旋翼高速直升机非线性强耦合多模式切换稳定控制问题,提出一种基于增益自适应的平均驻留时间切换控制策略。首先,根据共轴高速直升机动力学模型,分析其舵面操纵特性,构建多模式增益自适应切换控制结构。提出非仿射非线性小增益高频滤波自适应律,可快速补偿多模式切换的不确定性并降低高频噪声以保证系统的稳态和暂态性能。然后,建立包含不确定项的切换子模型集,结合自适应增益设计平均驻留时间切换控制律,基于小增益定理和Lyapunov稳定性理论证明该闭环系统的控制稳定性,保证共轴高速直升机低速-过渡-高速全模式下的稳定切换控制。最后,通过与现有控制方法的比较,验证了所提出的控制策略的可行性和有效性。To solve the problem of nonlinear strong-coupling multi-mode switching stability control of coaxial twin-rotor high-speed helicopter,a average dwell time switching control strategy is proposed based on gain adaptivity.According to the dynamic model of coaxial high-speed helicopter,the control characteristics of its rudder surface are analyzed,and a multi-mode gain adaptive switching control structure is constructed.A non-affine nonlinear small gain high fre-quency filter adaptive law is proposed.The uncertainty of multi-mode switching is quickly compensated and high-frequency noise is reduced to ensure the steady-state and transient-state performance of the system.Then,a switch-ing submodel set with uncertainties is established,and the average dwell time switching control law is designed based on adaptive gain.The control stability of the closed-loop system is proved based on the small gain theorem and Lyapu-nov stability theory,which ensures the stable switching control of the coaxial high-speed helicopter in low-speed-transition-high-speed full mode.Finally,a comparison with the existing control methods verifies the feasibility and ef-fectiveness of the proposed control strategy.

关 键 词：共轴高速直升机 非线性小增益 自适应控制 平均驻留时间 切换控制 

分 类 号：V249.121[航空宇航科学与技术—飞行器设计]