摘要
建立了无人直升机姿态/垂向通道的状态依赖伪线性模型,保留了状态耦合项,通过在线求解状态依赖Riccati方程(SDRE)得到名义模型的最优控制解,进而设计了积分扩展的状态依赖控制器。针对存在的外部扰动问题,设计了有限时间扰动观测器,对垂向与偏航两个耦合通道的扰动进行在线观测与补偿。最后在Yamaha-Rmax无人直升机数字平台上开展了仿真实验,结果表明,所提方法相对于经典的H∞鲁棒控制器具有模型参数依赖小、动态响应快的特点,实现了对直升机内环姿态与垂向速率的快速镇定。
Firstlya pseudo-linear state-dependent model for the attitude and vertical channels of an unmanned helicopter is establishedwhich keeps the coupling state term.Thenthe optimal solution of the nominal model is found by online solving State-Dependent Riccati Equation(SDRE)and an integral-extended state-dependent controller is designed.As for the external disturbancesa finite-time disturbance observer is designed to online observe and then compensate for the disturbances in the coupling vertical and yaw channels.Simulations are implemented on the numerical platform of Yamaha-Rmax unmanned helicopterand a comparison with the classical robust H∞controller is conducted.The simulation results show that the proposed method has the advantages of less dependence on parameters and faster responsewhich can rapidly stabilize inner-loop attitude and vertical velocity of the helicopter.
作者
唐鹏
戴跃洪
李照阳
TANG Peng;DAI Yuehong;LI Zhaoyang(University of Electronic Science and Technology of China, Chengdu 611000 China;Aircraft Swarm Intelligent Sensing and Cooperative Control Key Laboratory of Sichuan Province, Chengdu 611000 China)
出处
《电光与控制》
CSCD
北大核心
2021年第10期67-71,共5页
Electronics Optics & Control
基金
“十三五”装备预先研究项目(30103090201)
四川省科技厅省院省校合作项目(2020YFS0004)。
