何淼磊, 贺继林, 周烜亦. 小型无人直升机鲁棒飞行控制[J]. 机器人, 2016, 38(3): 337-342,351. DOI: 10.13973/j.cnki.robot.2016.0337
引用本文: 何淼磊, 贺继林, 周烜亦. 小型无人直升机鲁棒飞行控制[J]. 机器人, 2016, 38(3): 337-342,351. DOI: 10.13973/j.cnki.robot.2016.0337
HE Miaolei, HE Jilin, ZHOU Xuanyi. Robust Flight Control of a Small Unmanned Helicopter[J]. ROBOT, 2016, 38(3): 337-342,351. DOI: 10.13973/j.cnki.robot.2016.0337
Citation: HE Miaolei, HE Jilin, ZHOU Xuanyi. Robust Flight Control of a Small Unmanned Helicopter[J]. ROBOT, 2016, 38(3): 337-342,351. DOI: 10.13973/j.cnki.robot.2016.0337

小型无人直升机鲁棒飞行控制

Robust Flight Control of a Small Unmanned Helicopter

  • 摘要: 针对小型无人直升机的全自主飞行控制问题,提出一种基于直升机悬停模型的快速优化 H 鲁棒控制器的设计方法,设计了基于降阶观测器的双闭环的飞行控制器.内环控制器采用 H 鲁棒控制技术,用于直升机飞行姿态的控制;外环控制器采用 PD(比例-微分)控制技术,用于机体位移的控制.将设计的鲁棒控制器应用于研制的小型直升机飞行控制系统,实现了风扰环境下直升机的全自主定点悬停飞行.实验验证了该控制方法的有效性和鲁棒性.

     

    Abstract: In order to resolve the autonomous flying control problem of a small unmanned helicopter, a design method for fast-optimization robust H controller is presented based on helicopter hovering model, and a double-closed-loop flying controller based on reduced-order observer is designed. The inner-loop controller uses H robust technology for helicopter flight attitude control, and the outer-loop controller uses PD (proportional-derivative) technology for the helicopter displacement control. The proposed controller is applied to the flight control system of an independently developed miniature helicopter, and the fully autonomous fixed-point hovering flight is realized in interference environment. Experiments demonstrate the effectiveness and robustness of the proposed control approach.

     

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