基于模糊自抗扰的直升机障碍滑雪机动控制

为了提高直升机在机动飞行过程中的解耦性和未知扰动抑制能力，采用基于模糊与自抗扰的复合式控制 结构，设计直升机障碍滑雪机动控制器。分析ADS-33E-PRF 要求的直升机障碍滑雪机动过程中状态量的关系和控 制逻辑，在角速度环设计扩张状态观测器对未知扰动进行观测并加以补偿，在姿态环根据误差及其变化速率引入模 糊规则对控制律参数进行在线优化。针对无风扰和有风扰的飞行环境，开展障碍滑雪机动算法设计与仿真验证。结 果表明：在2 种飞行环境下，直升机飞行轨迹上下边界均控制在15.24～30.48 m 以内，达到标准中定义的满意品质 指标，验证了所采用的控制策略能够有效地估计出机动飞行过程的外部扰动，提高控制系统的抗干扰能力。

Helicopter Slalom Maneuver Control Based on Fuzzy Active Disturbance Rejection

In order to improve the decoupling and unknown disturbance rejection ability of helicopter during maneuvering flight, a slalom maneuver controller for helicopter was designed based on the compound control structure of fuzzy and active disturbance rejection. The relationship of state variables and control logic in the process of helicopter slalom maneuver required by ADS-33E-PRF are analyzed.In the angular velocity loop, an extended state observer is designed to observe and compensate the unknown disturbance, and in the attitude loop, fuzzy rules are introduced to optimize the control law parameters online according to the error and its change rate. According to the flight environment without wind disturbance and with wind disturbance, the algorithm design and simulation verification of slalom maneuver are carried out. The results show that the upper and lower boundaries of the helicopter flight trajectory are controlled within 15. 24 ~ 30.48 m in the 2 flight environments, and the satisfactory quality index defined in the standard is achieved, which verifies that the adopted control strategy can effectively estimate the external disturbance in the process of maneuvering flight and improve the anti-interference ability of the control system.