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摘要:
复合式无人直升机涉及多个冗余操纵输入，输入策略不同飞行器输出响应也就不同，该系统则是一个非线性强耦合的被控对象。因系统内部高阶动力学难以建模、外部扰动不明确，给飞行控制系统设计验证带来极大困难。为使复合式无人直升机在整个飞行包线内稳定飞行，姿态控制律设计至关重要。在建立复合式无人直升机运动特性数学模型基础上，设计不同飞行模式操纵策略，构建被控对象Simulink仿真模型。运用自抗扰控制(ADRC)技术设计姿态ADRC器，再以对比方法验证姿态ADRC的控制效果好于姿态比例积分微分PID控制器。仿真结果表明：姿态ADRC的抗干扰性和鲁棒性能满足复合式无人直升机姿态控制要求，确保无人直升机在不同飞行模式下快速稳定飞行。
Abstract:A compound unmanned helicopter is a non-linear and strongly coupled controlled plant with multiple redundant control inputs, and with its response varying with input strategies. The unmodeled internal structure dynamics and unknown external disturbances of the compound unmanned helicopter cause great difficulties in flight control system design. The attitude control law design is crucial for the helicopter to fly stably within the entire flight envelope. Based on a mathematical model for motion characteristics, the control strategies for the helicopter are designed for different flight modes, and the Simulink simulation model of the controlled plant is developed. The active disturbance rejection control (ADRC) of attitude is designed, and the comparison between the attitude ADRC and proportional-integral-derivative (PID) controller is conducted. The control effect of the attitude ADRC is better than that of the attitude PID controller. The simulation demonstrates that the anti-interference and robust performance of the ADRC meet the attitude control requirements for the compound unmanned helicopter, and that the quick and stable flight of the helicopter can be guaranteed for different flight modes.
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表 1 复合式无人直升机主要结构参数
Table 1. Main parameters of compound unmanned helicopter
起飞重
量/kg旋翼转
速/(r·min−1)旋翼
半径/m旋翼桨
叶片数螺旋桨
半径/m螺旋桨
桨叶片数20 1550 0.75 2 0.15 3 
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表 2 不同飞行模式的操纵策略
Table 2. Control strategies for different flight modes
通道 直升机飞行模式
的操纵策略过渡飞行模式
的操纵策略固定翼飞行模式
的操纵策略航向通道 左右螺旋桨转速 左右螺旋桨转速 左右螺旋桨转速 滚转通道 横向周期变距 横向周期变距、
左右副翼左右副翼 俯仰通道 纵向周期变距 纵向周期变距、
升降舵升降舵 前向拉力通道 纵向周期变距 纵向周期变距、
左右螺旋桨转速左右螺旋桨转速 升力通道 旋翼总距 升降舵、旋翼总距 升降舵、旋翼总距
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表 3 姿态ADRC参数
Table 3. Parameters of attitude ADRC
控制器 r h [β1,β2] τ δ [β01,β02,β03] b 偏航角
控制器5 1 [9500,5.5] 35 0.05 [2,13.8,0.1] 0.05 滚转角
控制器2.2 0.9 [2500,3.92] 55 58.1 [67.3500,2.9] 6.5 俯仰角
控制器2 1.5 [10.62,30] 5.817 219 [8.24,21,0.5] 8.8
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表 4 姿态PID控制器参数
Table 4. Parameters of PID controller
控制器 比例系数 积分系数 微分系数 偏航角控制器 12 0.05 2 滚转角控制器 4 0 1 俯仰角控制器 3.3 0 0 偏航角速率控制器 20 0.8 0.05 滚转角速率控制器 4 10 0 俯仰角速率控制器 0.05 0 48
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