无人直升机角速率自适应滑模控制

针对无人直升机动力学特性复杂,难以建立精确数学模型,且模型耦合性强和空气扰动影响大等特性,提出一种基于扩张状态观测器及反馈线性化滑模变结构控制的无人直升机复合式内环角速率控制策略。基于专业飞行模拟软件X-plane和飞行控制系统的半实物仿真结果表明该控制策略不仅能够保证被控对象在有一定湍流的飞行条件下角速率的准确跟踪,且针对不同的直升机模型能够在不更换模型参数的条件下实现角速率稳定跟踪,具有很强的鲁棒性和自适应能力。

Adaptive Sliding-Mode Control of Unmanned Helicopter Angular Rate

In view of the facts that unmanned helicopter dynamic characteristic is complex and difficult to establish accurate mathematical model,and air disturbance and model coupling is strong,the paper puts forward an unmanned helicopter angular rate control strategy based on extended state observer and feedback linearization sliding mode variable structure.Hardware-in-the-loop simulation is taken based on X-plane witch is a professional flight simulation software,the simulation results show that the proposed control strategy can not only ensure the controlled object angular rate accurate tracking under the flight condition of turbulent,but also realize the stable tracking of angular rate of different helicopter model without changing model parameters,having strong robustness and adaptive ability.