小型无人直升机建模与鲁棒飞行控制  

Modeling and robust flight control of small-scale unmanned helicopter

作　　者：张培康 郭继峰[1] 颜鹏 ZHANG Peikang;GUO Jifeng;YAN Peng(Research Center of Intelligent Sensing and Autonomous Planning,Harbin Institute of Technology,Harbin 150001,China)

机构地区：[1]哈尔滨工业大学智能感知与自主规划研究中心,哈尔滨150001

出　　处：《航空学报》2024年第S1期260-274,共15页Acta Aeronautica et Astronautica Sinica

基　　金：黑龙江省自然科学基金优秀青年基金(YQ2022F012);中央高校基本科研业务费专项资金(HIT.OCEF.2023010)

摘　　要：针对小型无人直升机的建模与鲁棒飞行控制问题,考虑飞行过程中存在的测量噪声、风场扰动以及系统参数变化,提出了一种将H∞混合灵敏度控制与μ综合相结合的串级鲁棒飞行控制框架。首先,构建小型无人直升机非线性动力学模型,包含其推力迭代求解算法、主旋翼挥舞动力学,兼顾模型真实性和计算复杂度。其次,在悬停模态下线性化,为横、纵向通道设计Notch滤波器改善开环欠阻尼特性,降低其控制难度。随后,在鲁棒飞行控制系统中,以保守性较低的μ综合方法实现内环量的快速响应,以H∞混合灵敏度控制抑制干扰对外环量影响。最后,在非标称情形下的仿真试验显示,相较于PID控制,本文设计的鲁棒飞行控制系统具备更稳定的控制效果,证明了其有效性和优越性。To address the modeling and robust flight control problem of small-scale unmanned helicopters,a cascade robust flight control framework combining H∞mixed sensitivity control andμsynthesis is proposed,considering the measurement noise,wind disturbance,and system parameter perturbation during flight.Firstly,a nonlinear dynamics model of the small-scale unmanned helicopter,including its thrust iterative solution algorithm and main rotor’s flapping dynamics,is constructed,taking into account the model authenticity and computational complexity.Secondly,the model is linearized at the hovering mode,and Notch filters are designed for the lateral and longitudinal channels to im⁃prove the open-loop underdamping characteristics,so as to reduce its control difficulty.Subsequently,in the robust flight control system,fast response of the inner-loop states is realized by the less conservativeμsynthesis method,and the influence of disturbances on the outer-loop states is suppressed by H∞mixed sensitivity control.Finally,simu⁃lation experiments in the non-nominal case shows that the robust flight control system designed in this paper has more stable control performance compared with the PID control system,proving its effectiveness and superiority.

关 键 词：小型无人直升机 挥舞动力学 Notch滤波器 串级控制系统 H_∞混合灵敏度控制 Μ综合 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计]