摘要
To enhance the stability of helicopter maneuvers during task execution,a composite trajectory tracking controller design based on the implicit model(IM)and linear active disturbance rejection control(LADRC)is proposed.Initially,aerodynamic models of the main and tail rotor are created using the blade element theory and the uniform inflow assumption.Subsequently,a comprehensive flight dynamic model of the helicopter is established through fitting aerodynamic force fitting.Subsequently,for precise helicopter maneuvering,including the spiral,spiral up,and Ranversman maneuver,a regular trim is undertaken,followed by minor perturbation linearization at the trim point.Utilizing the linearized model,controllers are created for the IM attitude inner loop and LADRC position outer loop of the helicopter.Ultimately,a comparison is made between the maneuver trajectory tracking results of the IM‑LADRC and the conventional proportional-integral-derivative(PID)control method is performed.Experimental results demonstrate that utilizing the post-trim minor perturbation linearized model in combination with the IM‑LADRC method can achieve higher precision in tracking results,thus enhancing the accuracy of helicopter maneuver execution.
为提升直升机执行任务时机动动作的稳定性,设计了基于隐模型(Implicit model,IM)和线性自抗扰(Lin‑ear active disturbance rejection control,LADRC)的直升机复合轨迹跟踪控制器。首先,采用叶素理论和均匀入流假设建立了旋翼和尾桨的气动模型。通过拟合机身气动力建立了全机飞行动力学模型。其次,针对直升机的定点盘旋、盘旋上升和莱维斯曼机动进行准定常配平,并在配平处进行小扰动线性化。结合线性化模型,建立了直升机IM姿态内回路和LADRC位置外回路的控制器。最后,将IM‑LADRC的机动动作轨迹跟踪结果与经典PID控制方法轨迹跟踪结果进行对比。结果表明,采用配平后小扰动线化模型并结合IM‑LADRC的方式能够达到更高精度的跟踪结果,提高了直升机执行机动任务准确性。
基金
supported in part by the National Natural Science Foundation of China(No.12032012)
the Key Discipline Construction Project of Colleges and Universities in Jiangsu Province.
作者简介
Corresponding authors:杜思亮,E-mail addresses:dusl_aircraft@nuaa.edu.cn,Prof.DU Siliang received his Ph.D.degree in fluid mechanics from NUAA in 2017.His main research direction is mainly engaged in research and development in the fields of UAV and robot system design and integration;Corresponding authors:招启军,zhaoqijun@nuaa.edu.cn。Prof.ZHAO Qijun received his Ph.D.degree in aerodynamics from NUAA in 2005.His main research directions are new principles,new methods,interdisciplinary,key technologies and integrated innovation research in the fields of helicopter aerodynamics,computational fluid dynamics(CFD),aerodynamic noise,high-performance rotor design,new concept UAV design,stealth design and active flow control;Mr.REN Binwu is now a Ph.D.candidate in Nanjing University of Aeronautics and Astronautics(NUAA).His research direction is mainly related to helicopter flight control and intelligent control.
