摘要
为了抑制小型无人直升机在悬停控制中遇到的侧风等干扰,将自适应逆控制(AIC)理论引入其中,并针对小型无人直升机在悬停状态下的模型特性及控制器的鲁棒性设计问题,改进了自适应逆控制框图。同时,根据小型无人直升机悬停基本原理,搭建了悬停试飞平台,并利用Kane方法对小型无人直升机进行了动力学建模。在算法上采用递推最小二乘算法(RLS)对小型无人直升机进行参数辨识和控制器的设计。实验结果表明,AIC-RLS方法在消除侧风等干扰性能上优于PID控制器。室外平台悬停控制的实现证明了上述方法的有效性。
Adaptive inverse control（AIC） theory was introduced to inhibit interferences su ch as side wind during hovering control for small-sized unmanned helicopter.Ba sed on this theory,an AIC control block diagram was improved to accommodate wit h the characteristics of helicopter hovering model and robust design.According to the structure and fundamental theory of small-sized unmanned helicopter,a h over flight experimental platform was built.Also,the translation equations wer e the rotation equations were derived by the Kane Equation.Recursive least squa re（RLS） method was used to identify the parameters and design the controller.T he experimental results show that,in terms of interference elimination,AIC-RL S method is better than PID controller.The realization of open-air hovering co ntrol on flight experimental platform demonstrates the method is effective.
出处
《实验室研究与探索》
CAS
北大核心
2011年第8期57-62,共6页
Research and Exploration In Laboratory
基金
国家自然科学基金项目(51005147/E050103)
上海交通大学17期PRP项目(T41017008)
关键词
小型无人直升机
动力学建模
自适应逆控制
递推最小二乘算法
悬停控制
unmanned small size helicopter
dynamical modeling
adaptive inverse control（A IC）
recursive least square algorithm（RLS）
hovering control
