小型无人直升机稳定杆建模与姿态系统设计

Stabilizer Bar Modeling of Small-Size UnmannedHelicopter and Attitude Control System Design

对某小型无人直升机的稳定杆单独进行了建模,并着重分析了稳定杆在整个飞行控制系统中所起的作用以及它对姿态系统的影响。针对稳定杆所引起的姿态系统动态响应的峰值和弱阻尼,采取在控制策略中加入陷波器的方法进行补偿。仿真结果表明:陷波器消除了稳定杆所引起的峰值,提高了姿态系统的动态阻尼,姿态系统的性能得到了明显的优化,最后实现了姿态系统的自行稳定和按设定值变化,为小型无人直升机的姿态系统设计提供了工程设计方法。

The results of stabilizer bar modeling and the attitude control optimization are presented for a small-size unmanned helicopter. The stabilizer bar is individually modeled. This paper analyzes the effect of the stabilizer bar on the whole flight control system and the attitude system, the stabilizer bar arouses the light damp and the peak. The second order notch filters are used in the attitude system to compensate the performance limits resulted from the stabilizer bar. Simulation results show that the notch filter eliminates the peak and increases the damp of the attitude system. The performance of attitude control system is improved. Finally the attitude control system can be self-steady and change as given the value, thus providing a engineering design method of the attitude control for the small-size unmanned helicopter.