摘要
针对小型无人直升机(Small-scale unmanned helicopter,SUH)起飞过程中过度依赖于地面飞行手的问题,提出了一种基于经验知识与系统辨识的自主起飞控制方法.首先,通过研究专业飞行手手动操纵小型无人直升机起飞过程中高度与油门、总距舵量等信息的对应关系,分析了利用学习飞行手的操纵行为实现小型无人直升机自主起飞的可行性,并设计了小型无人直升机自主起飞控制流程.引入了安全高度及变增益控制以提高自主起飞过程中的飞行安全性能,利用不完全微分控制方法抑制了微分高频噪声.其次,为了获取自主起飞过程中控制参数,采用自适应遗传算法对小型无人直升机动力学模型进行了辨识,在动力学模型的基础上进一步辨识得到了飞行控制参数.最后,通过在小型无人直升机平台进行的实际飞行实验,验证了本文方法的有效性.
Focusing on the problem that the take-off of a small- scale unmanned helicopter （SUH） mainly relys on the manoeu- vre of the pilot on the ground, an automatic take-off method for SUHs is proposed based on the knowledge of pilot and sys- tem identification theory. First, through studying the relation- ships between altitudes, throttle, and collective pitch during SUH take-off manoeuvred by a professional pilot, the feasibil- ity of realizing the take-off of SUH via studying the manoeuvre behavior of the pilot is analyzed, and the control flowchart of automatic take-off is designed. Safe altitude and variable gain control are introduced to improve flight safety of automatic take- off, incomplete differential algorithm is utilized to restrain the high frequency disturbance aroused by differential. Then, in or- der to acquire the flight control parameters of automatic take-off, adaptive genetic algorithm is adopted to identify the dynamics model, and flight control parameters are obtained based on the identified model. Finally, the results of flight experiment con- ducted upon a type of SUH show that the control algorithm proposed in this paper could realize the automatic take-off of SUH effectively.
出处
《自动化学报》
EI
CSCD
北大核心
2012年第8期1385-1392,共8页
Acta Automatica Sinica
基金
国家重点基础研究发展计划(973计划)(2009CB72400102)
国家自然科学基金(60736025
60905056)
国家杰出青年科学基金(60825305)资助~~
关键词
小型无人直升机
自主起飞
系统辨识
自适应遗传算法
Small-scale unmanned helicopter （SUH）, auto- matic takeoff, system identification, adaptive genetic algorithm
