基于LADRC的直升机姿态解耦控制及参数整定

吴超; 王浩文; 姜辰; 张玉文; 倪先平

doi:10.13700/j.bh.1001-5965.2014.0710

基于LADRC的直升机姿态解耦控制及参数整定

doi: 10.13700/j.bh.1001-5965.2014.0710

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

基金项目: 江苏高校优势学科建设工程资助项目(PAPD)

详细信息

作者简介:
吴超(1983-),男,安徽巢湖人,博士研究生,wuchao_nuaa@163.com

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.

中图分类号: V212.4
计量
- 文章访问数: 1093
- HTML全文浏览量: 70
- PDF下载量: 700
- 被引次数: 0
出版历程
- 收稿日期: 2014-11-17
- 修回日期: 2015-02-13
- 网络出版日期: 2015-11-20

LADRC-based attitude decoupling control for helicopter and parameters tuning

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

摘要

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.
- 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.
- helicopter /
- attitude decoupling /
- parameters tuning /
- linear active disturbance rejection /
- flight quality

HTML全文

参考文献(26)

[1]	Bouwer G, Hilbert K B.A piloted simulator investigation of decoupling helicopters by using a model following control system, AD-A139976[R].Virginia:ASTIA, 1984.
[2]	Hilbert K B, Bouwer G.The design of a model-following control system for helicopters[C]//17th Fluid Dynamics, Plasma Dynamics, and Lasers Conference.Reston:AIAA, 1984:601-617.
[3]	袁锁中,杨一栋.一拍跟踪的直升机显模型跟踪解耦控制系统设计[J].直升机技术, 1997(1):27-32. Yuan S Z, Yang Y D.Design of a model following control system for helicopter[J].Helicopter Technique, 1997(1):27-32(in Chinese).
[4]	郑峰婴,杨一栋.控制阵解耦的直升机显模型跟踪飞控系统设计[J].海军航空工程学院学报, 2007, 22(1):119-124. Zheng F Y, Yang Y D.Flight control system design of explicit model-following for helicopter based on control distribution matrix decouple[J].Journal of Naval Aeronautical Engineering Institute, 2007, 22(1):119-124(in Chinese).
[5]	Landis K, Glusman S.Development of ADOCS controllers and control laws:Vol 1-3, NASA-CR-17739[R].Washington, D.C.:NASA, 1987.
[6]	Tischler M B, Fletcher J W, Morris P M, et al.Applications of flight control system methods to an advanced combat rotorcraft, NASA-TM-101054[R].Washington, D.C.:NASA, 1989.
[7]	Manness M A, Murray-Smith D J.Aspects of multivariable flight control law design for helicopters using eigenstructure assignment[J].Journal of the American Helicopter Society, 1992, 37(3):18-32.
[8]	Hicks K L, Rodriguez A A.Decoupling compensation for the Apache helicopter[C]//Proceedings of the IEEE Conference on Decision and Control.Piscataway, NJ:IEEE Press, 1996, 2:1551-1555.
[9]	Ji S Y, Wu A G.Study on dual-loop controller of helicopter based on the robust H-infinite loop shaping and mixed sensitivity[C]//2011 International Conference on Electrical and Control Engineering.Piscataway, NJ:IEEE Press, 2011:1291-1294.
[10]	邢小军,闫建国,张洪才.直升机H_∞鲁棒控制器的优化设计及仿真[J].系统仿真学报, 2010, 22(9):2185-2189. Xing X J, Yan J G, Zhang H C.Design and simulation for helicopter's optimal H infinity robust controller[J].Journal of System Simulation, 2010, 22(9):2185-2189(in Chinese).
[11]	Wang B, Chen B M, Lee T H.An RPT approach to time-critical path following of an unmanned helicopter[C]//8th Asian Control Conference-Final Program and Proceedings.Piscataway, NJ:IEEE Press, 2011:211-216.
[12]	黄一,薛文超,杨晓霞.自抗扰控制:思想、理论分析及运用[C]//第29届中国控制会议论文集.北京:中国自动化学会控制理论专业委员会, 2010:29-31. Huang Y, Xue W C, Yang X X.Active disturbance rejection control:Methodology, theoretical analysis and applications[C]//Proceedings of the 29th Chinese Control Conference.Beijing:Technical Committee on Control Theory, Chinese Association of Automation, 2010:29-31(in Chinese).
[13]	韩京清.自抗扰控制器及其应用[J].控制与决策, 1998, 13(1):19-23. Han J Q.Active disturbance rejection controller and its applications[J].Control and Decision, 1998, 13(1):19-23(in Chinese).
[14]	Gao Z Q.Active disturbance rejection control:A paradigm shift in feedback control system design[C]//Proceedings of the American Control Conference.Piscataway, NJ:IEEE Press, 2006:2399-2405.
[15]	Talbot P D, Tinling B E, Decker W A, et al.A mathematical model of a single main rotor helicopter for piloted simulation, NASA-TM-84281[R].Washington, D.C.:NASA, 1982.
[16]	Hilbert K B.A mathematical model of the UH-60 helicopter, NASA-TM-85890[R].Washington, D.C.:NASA, 1984.
[17]	Howlett J J.UH-60A black hawk engineering simulation program:Volumes I-Mathematical model, NASA-CR-166309[R].Washington, D.C.:NASA, 1981.
[18]	吴超,谭剑锋,王浩文,等.基于GA/LM混合优化的直升机全机配平算法[J].飞行力学, 2014, 32(1):5-19. Wu C, Tan J F, Wang H W, et al.Optimal trim for helicopter based on GA and LM hybrid algorithm[J].Flight Dynamics, 2014, 32(1):5-19(in Chinese).
[19]	Moorhouse D, Woodcock R.US military specification MIL-F-8785C[R].Washington, D.C.:US Department of Defense, 1980.
[20]	Ballin M G.Validation of a real-time engineering simulation of the UH-60A helicopter, NASA-TM-88359[R].Washington, D.C.:NASA, 1987.
[21]	Zheng Q, Chen Z, Gao Z.A dynamic decoupling control approach and its applications to chemical processes[C]//Proceedings of the American Control Conference.Piscataway, NJ:IEEE Press, 2007:5176-5181.
[22]	Zheng Q, Gao L Q, Gao Z.On estimation of plant dynamics and disturbance from input-output data in real time[C]//Proceedings of the IEEE International Conference on Control Applications.Piscataway, NJ:IEEE Press, 2007:1167-1172.
[23]	Zheng Q, Gao L Q, Gao Z.On stability analysis of active disturbance rejection control for nonlinear time-varying plants with unknown dynamics[C]//Proceedings of the 46th IEEE Conference on Decision and Control.Piscataway, NJ:IEEE Press, 2007:3501-3506.
[24]	ADS-33D-PRF.Aeronautical design standard performance specification handling qualities requirements for military rotorcraft[S].Missouri:ATCOM, 1996.
[25]	Apkarian P, Noll D.Nonsmooth H_∞ synthesis[J].IEEE Transactions on Automatic Control, 2006, 51(1):71-86.
[26]	Tischler M B, Colbourne J D, Morel M R, et al.A multi-disciplinary flight control development environment and its application to a helicopter[J].Control Systems, IEEE, 1999, 19(4):22-33.