摘要
针对直升机吊挂前飞过程中吊挂物易受扰摆动及吊挂物摆角变化对直升机姿态具有干扰等问题,设计了终端滑模自抗扰控制器(TSM-ADRC)。首先建立了直升机-吊挂系统模型;然后引入直升机本体姿态信息和吊挂物的摆动角信息,设计了终端滑模自抗扰控制器;最后进行基于终端滑模自抗扰控制器和PID控制器的直升机吊挂前飞姿态稳定仿真。仿真结果表明终端滑模自抗扰控制器可以准确估计系统干扰并进行补偿,抑制了吊挂物的摆动,提高了直升机吊挂系统的抗干扰能力和响应速度。
A terminal sliding mode active disturbance rejection controller(TSM-ADRC)was designed to solve the problems that slung load was disturbed by external forces and the helicopter attitude was disturbed by the change of slung load attitude in forward flight.Firstly,the nonlinear model of helicopter-slung system was established and linearized,and then the attitude information of helicopter and slung load was used to design the terminal sliding mode active disturbance rejection controller.Finally,the flight attitude stability simulation of helicopter on slung flight based on TSM-ADRC and PID controller was carried out.The simulation results showed that the TSM-ADRC could accurately estimate and compensate the system interference,reduce the swing of the slung load,and improve the anti-interference ability and response speed of the helicopter-slung system.
作者
白红丽
程东权
BAI Hongli;CHENG Dongquan(China Helicopter Research and Development Institute,Jingdezhen 333001,China)
出处
《直升机技术》
2022年第4期23-26,30,共5页
Helicopter Technique
关键词
直升机
吊挂
终端滑模自抗扰控制器
helicopter
slung
terminal sliding mode active disturbance rejection controller
作者简介
白红丽(1996-),女,河北省秦皇岛市人,硕士学历,助理工程师。
