三自由度直升机多刚体动力学建模与参数辨识  

Multi-rigid-body dynamics and parameter identification of a 3-DOF helicopter

作　　者：李世尧 张特 朱波[4] 彭琛 胡天江 LI Shi-yao;ZHANG Te;ZHU Bo;PENG Chen;HU Tian-jiang(School of Aeronautics and Astronautics,Sun Yat-Sen University,Shenzhen 518107,China;Control and Simulation Center,Harbin Institute of Technology,Harbin 150001,China;School of Aeronautics and Astronautics,University of Electronic Science and Technology of China,Chengdu 611731,China;Center for Advanced Control and Smart Operations,Nanjing University,Suzhou 215163,China)

机构地区：[1]中山大学航空航天学院,深圳518107 [2]哈尔滨工业大学控制与仿真中心,哈尔滨150001 [3]电子科技大学航空航天学院,成都611731 [4]南京大学高端控制与智能运维研发中心,苏州215163

出　　处：《吉林大学学报(工学版)》2024年第11期3379-3391,共13页Journal of Jilin University:Engineering and Technology Edition

基　　金：国家自然科学基金项目(62373386,61973327)。

摘　　要：针对编码器测角精度有限的三自由度直升机教学与科研平台,从多刚体系统的视角,开展了三刚体动力学建模、多通道耦合动力学参数辨识、电机-螺旋桨升力组件特性辨识、模型线性化处理与分析、模型特性验证等全链条工作,最终获得了可以直接用于基于模型控制设计的标称模型,并从模型描述平台特性的完整性和精确性方面,开展了大量对比实验。基于该标称模型,设计并实验验证了两个“前馈+基于线性二次型调节器的反馈控制”角轨迹跟踪控制器,获得的角轨迹跟踪控制精度水平可作为其他高精度算法的对标对象。The 3-degrees of freedom(DOF)helicopter has three typical features:nonlinearity,underactuation,and suffering from uncertainties and external disturbances.It has received much attention from well-known research groups,owing to its convivence for the verification of motion planning and robust control.However,the lack of accurate models for motion and actuator dynamics leading to the limitation for the motion planning and control algorithms.Motivated by this fact,we study the model of a 3-DOF helicopter platform as a multi-rigid-body system,which is equipped with low-precision encoders for attitude measurements.The detailed work includes::modelling the dynamics for three bodies respectively;@identifying the parameters of the multi-channel motion as well as the parameters of the motor-propellerlifting component;(3)linearizing and analyzing the nonlinear model;@verifying both the nonlinear and linearized models.Finally,a benchmark model for the platform is obtained,by which,the model-based controller can be designed.Some experiments are designed to show the completeness and high-accuracy of the benchmark model.Two"feedforward+linear quadratic regulator(LQR)-based feedback"controllers for the angular trajectory tracking are designed based on the identified model and implemented on the experimental setup,where the tracking performance of these controllers can be benchmarked against other advanced algorithms.

关 键 词：多刚体动力学 参数辨识 三自由度直升机 基于模型的控制 

分 类 号：V249.122[航空宇航科学与技术—飞行器设计]