北京航空航天大学学报 ›› 2015, Vol. 41 ›› Issue (11): 2085-2094.doi: 10.13700/j.bh.1001-5965.2014.0710

• 论文 • 上一篇    下一篇

基于LADRC的直升机姿态解耦控制及参数整定

吴超1, 王浩文2, 姜辰2, 张玉文2, 倪先平1   

  1. 1. 南京航空航天大学直升机旋翼动力学国家级重点实验室, 南京 210016;
    2. 清华大学航天航空学院, 北京 100084
  • 收稿日期:2014-11-17 修回日期:2015-02-13 出版日期:2015-11-20 发布日期:2015-12-01
  • 通讯作者: 王浩文(1969-),男,浙江台州人,教授,bobwang@tsinghua.edu.cn,研究方向为直升机动力学、直升机结构强度及振动载荷分析. E-mail:obwang@tsinghua.edu.cn
  • 作者简介:吴超(1983-),男,安徽巢湖人,博士研究生,wuchao_nuaa@163.com
  • 基金资助:
    江苏高校优势学科建设工程资助项目(PAPD)

LADRC-based attitude decoupling control for helicopter and parameters tuning

WU Chao1, WANG Haowen2, JIANG Chen2, ZHANG Yuwen2, NI Xianping1   

  1. 1. National Key Laboratory of Science and Technology on Rotorcraft Aeromechanics, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China;
    2. School of Aerospace Engineering, Tsinghua University, Beijing 100084, China
  • Received:2014-11-17 Revised:2015-02-13 Online:2015-11-20 Published:2015-12-01

摘要: 为满足ADS-33E-PRF所规定的飞行品质,有效克服模型外部扰动的影响,提出了一种基于线性自抗扰控制(LADRC)的直升机姿态控制策略.建立UH-60A直升机的飞行动力学模型和风模型,并进行配平计算以验证动力学模型和配平算法的准确性.在增稳反馈回路的基础上,基于单输入单输出的二阶LADRC控制器搭建了UH-60A的姿态解耦控制回路.针对ADS-33E-PRF品质要求,将控制器参数整定转变为时域与频域内的约束优化问题,结合H综合算法和最速下降算法进行了优化计算.对姿态控制器的控制效果进行了品质评估,并在大气扰动下对姿态保持控制进行了仿真,仿真和品质分析表明基于LADRC的姿态控制系统具有良好的解耦性能和抗扰性.

关键词: 直升机, 姿态解耦, 参数整定, 线性自抗扰, 飞行品质

Abstract: To meet the ADS-33E-PRF flight quality and effectively overcome the influence of external disturbance, an attitude control strategy based on a linear active disturbance rejection control (LADRC) is proposed for helicopter. Flight dynamics model of UH-60A and the wind model were established. UH-60A was trimmed for verifying accuracy of dynamic model and trim algorithm. Helicopter attitude decoupling control loop based on the single input/single output second-order LADRC controller was set up with stabilization feedback loop. The controller parameter tuning problem was transformed into constrained optimization problem in time and frequency domain according to quality requirement of ADS-33E-PRF. Combining H-infinity synthesis algorithm and steepest descent algorithm, the optimization of parameters was calculated. Quality assessment of attitude control was made and the control loop was applied to the attitude hold control simulation in atmospheric disturbance. The results of simulation and quality evaluation show that the attitude control system based on LADRC has good decoupling performance and capability of anti-disturbance.

Key words: helicopter, attitude decoupling, parameters tuning, linear active disturbance rejection, flight quality

中图分类号: 


版权所有 © 《北京航空航天大学学报》编辑部
通讯地址:北京市海淀区学院路37号 北京航空航天大学学报编辑部 邮编:100191 E-mail:jbuaa@buaa.edu.cn
本系统由北京玛格泰克科技发展有限公司设计开发