无人直升机LPV控制律设计

段镖; 杨庶; 李爱军

doi:10.13700/j.bh.1001-5965.2021.0340

无人直升机LPV控制律设计

doi: 10.13700/j.bh.1001-5965.2021.0340

西北工业大学自动化学院，西安 710072

详细信息

通讯作者:
E-mail：syang@nwpu.edu.cn

中图分类号: V212.4；V249.1
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出版历程
- 收稿日期: 2021-06-22
- 录用日期: 2021-10-29
- 网络出版日期: 2021-11-16
- 整期出版日期: 2023-04-30

Design of LPV control law for unmanned helicopter

School of Automation，Northwestern Polytechnical University，Xi’an 710072，China

More Information

Corresponding author: E-mail：syang@nwpu.edu.cn

摘要

摘要:
针对无人直升机航迹控制要求，提出一种基于线性变参数(LPV)控制理论的无人直升机一体化式飞行控制律设计方法，通过速度、侧滑角、高度和偏航角控制通道的显模型跟踪控制，实现无人直升机航迹控制。建立了无人直升机高阶非线性动力学模型，模型中考虑了旋翼桨叶挥舞和摆振运动、旋翼动态入流、机体运动之间的运动耦合，用于检验直升机高阶运动特性对控制律性能和闭环系统稳定性的影响。由于无人直升机的非线性动力学模型是典型的周期性系统，基于简谐平衡方法进行无人直升机的配平和模型线性化计算，在速度包线内得到用于控制律设计的无人直升机LPV模型，通过凸函数优化方法求解LPV控制律的参数。基于典型直升机机动，采用数值仿真方法对LPV控制律在传感器噪声影响下的控制性能进行检验，仿真结果表明：LPV控制律在速度包线内具有良好的控制性能和鲁棒性，无人直升机闭环系统在机动飞行中满足给定的性能要求。
- 无人直升机 /
- 高阶动力学模型 /
- 一体化式飞行控制 /
- 鲁棒控制 /
- 线性变参数控制 /
- 显模型跟踪
Abstract:
An LPV control scheme is proposed to design integrated flight control laws for unmanned helicopters. The LPV control law achieves explicit model following performance for an unmanned helicopter in velocity, sideslip angle, altitude, and yaw angle control channels, leading to desired flight path control performance. A nonlinear mathematical model is developed for an unmanned helicopter to take into consideration the coupling among rotor blade flapping and lead-lag dynamics, rotor inflow dynamics, and fuselage dynamics. Since helicopter dynamics is periodic, harmonic balance method is employed to conduct trim and model linearization, leading to an LPV model used to perform LPV control design in a velocity envelope. Parameters of the LPV control law are determined by solving a convex optimization problem. Numerical simulations are conducted to examine the performance of the LPV control law based on typical helicopter maneuvers under sensor noise. Results show that the proposed law has good performance and robustness in helicopter velocity envelope, satisfying performance standards of each maneuver of an unmanned helicopter.
- unmanned helicopter /
- high-order dynamics model /
- integrated flight control /
- robust control /
- linear parameter varying control /
- explicit model following

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图 1 主旋翼桨叶的广义坐标

Figure 1. Generalized coordinates of main rotor blades

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图 2 LPV控制律设计的系统连接结构

Figure 2. System interconnections for LPV control

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图 3 滚转角、俯仰角和侧滑角配平结果

Figure 3. Trim results of roll, pitch, and sideslip angles

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图 4 杆输入配平结果

Figure 4. Trim results of stick inputs

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图 5 对偶输入指令和无人直升机响应（V = 2.5 m/s ）

Figure 5. Doublet input commands and unmanned helicopter responses (V = 2.5 m/s )

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图 6 对偶输入指令和无人直升机响应（V = 61.7 m/s ）

Figure 6. Doublet input commands and unmanned helicopter responses (V = 61.7 m/s )

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图 7 控制输入（V = 2.5 m/s ）

Figure 7. Control inputs (V = 2.5 m/s )

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图 8 控制输入（V = 61.7 m/s ）

Figure 8. Control inputs (V = 61.7 m/s )

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图 9 控制指令和无人直升机响应（水平加减速机动）

Figure 9. Control commands and unmanned helicopter responses (level acceleration and deceleration)

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图 10 滚转角和俯仰角响应（水平加减速机动）

Figure 10. Responses of roll and pitch angles (level acceleration and deceleration)

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图 11 旋翼多桨叶坐标响应（水平加减速机动）

Figure 11. Responses of rotor multi-blade coordinates (level acceleration and deceleration)

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图 12 控制输入（水平加减速机动）

Figure 12. Control inputs (level acceleration and deceleration)

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图 13 无人直升机航迹（穿桩回旋机动）

Figure 13. Unmanned helicopter trajectory (slalom)

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图 14 控制指令和无人直升机响应（穿桩回旋机动）

Figure 14. Control commands and unmanned helicopter responses (slalom)

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图 15 滚转角和俯仰角响应（穿桩回旋机动）

Figure 15. Responses of roll and pitch angles (slalom)

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图 16 旋翼多桨叶坐标响应（穿桩回旋机动）

Figure 16. Responses of rotor multi-blade coordinates (slalom)

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图 17 控制输入（穿桩回旋机动）

Figure 17. Control inputs (slalom)

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