中型无人直升机向心回转机动飞行控制律设计
Design of Hovering Turn Maneuver Flight Control Law for Medium Unmanned Helicopters
孙飞 1祖家奎 1刘佳晖1
作者信息
- 1. 南京航空航天大学自动化学院,江苏 南京 211106
- 折叠
摘要
向心回转是直升机的一个标准机动飞行科目,其可以综合检验直升机各通道的控制性能.针对中型无人直升机向心回转机动中姿态控制和速度控制的问题,提出一种增强飞行过程中稳定性和快速性的控制律设计方法.首先,根据ADS-3E-PRF,设计了向心回转机动的控制指令.随后,在内外环串联的通道控制结构基础上,通过推导得出直升机滑模控制律,从而设计姿态内回路的滑模控制器,对比PID控制器得到了更好的姿态增稳效果和更快的响应速度.最后,通过半物理仿真系统的仿真实验,结合向心回转机动的指标,验证了所设计的方法能有效完成向心回转机动,并达到了满意的标准.
Abstract
Hovering Turn is a standard maneuver flight subject for helicopters,which can comprehen-sively test the control performance of each channel of the helicopter.A control law design method was pro-posed to enhance the stability and rapidity during flight for attitude control and speed control in the cen-tripetal rotation maneuver of medium-sized unmanned helicopters.Firstly,according to the ADS-33E-PRF,the control command of hovering turn maneuver was designed.Subsequently,based on the channel control structure connected in series with the inner and outer loops,the helicopter sliding mode control law was de-rived,and a sliding mode controller for the attitude inner loop was designed.Compared with the PID con-troller,better attitude stabilization effect and faster response speed were obtained.Finally,through simula-tion experiments on a semi physical simulation system,combined with the indicators of hovering turn ma-neuver,it was verified that the designed method can effectively complete the hovering turn maneuver and meet satisfactory standards.
关键词
直升机控制/机动飞行/滑模控制/控制律设计Key words
helicopter control/maneuver flight/sliding mode control/control law design引用本文复制引用
出版年
2024
国家科技期刊平台
NSTL
万方数据