强风扰动下的无人直升机横航向抗侧风控制律研究  

Research on Lateral and Heading Anti-crosswind Control Law of Unmanned Helicopter under Strong Wind Disturbance

作　　者：刘世龙 祖家奎[1] 位士超 叶晓宇 LIU Shilong;ZU Jiakui;WEI Shichao;YE Xiaoyu(College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 211106,China)

机构地区：[1]南京航空航天大学自动化学院,江苏南京211106

出　　处：《机械与电子》2025年第2期66-72,80,共8页Machinery & Electronics

摘　　要：针对无人直升机受强风干扰而造成偏离航线甚至带来飞行安全隐患的工程问题,首先,分析了直升机受到强风扰动影响的动力学和运动学机理以及常规控制方法在强风干扰下控制律存在的诸多不足。其次,提出了无人直升机横航向通道的控制律改进优化方案,在内回路设计了自抗扰控制器用于降低紊流风的扰动;并针对直升机不同飞行阶段设计了相应的外回路控制策略和控制律:悬停/小速度阶段采用基于地速控制和侧向加速度的控制方案提高强风扰动下的位置控制精度和消除侧滑;前飞阶段采用风场估计算法和前馈动态补偿的方法来实现前飞无侧滑抗风控制飞行。最后,针对不同类型的强风扰动以及无人直升机不同的飞行阶段进行了控制律的仿真验证,结果分析表明所设计的控制律具有良好的抗风能力,可以满足无人直升机在强风扰动下的稳定性和安全性要求。In response to the engineering problem of unmanned helicopters deviating from flight path and even influencing flight safety due to strong wind interference,this paper first analyzes the dynamic and kinematic mechanisms of helicopters affected by strong wind disturbances,as well as the many shortcomings of conventional control methods in control laws.Secondly,an improved control law scheme for the lateral and heading channel of an unmanned helicopter was proposed,which includes designing an active disturbance rejection controller in the inner loop to reduce the disturbance of turbulent wind;and corresponding outer loop control strategies and laws were designed for different flight stages:during hovering/low speed stages,ground speed control and lateral acceleration control schemes were adopted to improve position control accuracy and eliminate sideslip;in the forward flight stage,wind field estimation algorithm and feedforward dynamic compensation method were used to achieve non-sideslip and anti-wind control flight.Finally,simulation verification of control laws was conducted for different types of strong wind disturbances and different flight stages.The results show that the designed control law has good wind resistance and can meet the stability and safety requirements of unmanned helicopters under strong wind disturbances.

关 键 词：风扰动 无人直升机 抗侧风 横航向通道 侧滑 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计]