两自由度小型直升机动力学建模与控制的分析

Analysis of Dynamic Modeling and Control for Two Degrees of Freedom Small Scale Helicopter

基于相似性理论设计了具有两自由度的直升机飞行模拟试验平台,以该试验平台为研究对象,利用拉格朗日-欧拉方程与等效力矩相结合的方法推导出系统的动力学模型,预估了试验平台的物理参数;通过试验获得在固定总距角情况下直升机的升力随转速的变化关系。根据动力学方程,设计了具有鲁棒性的PID修正前馈控制算法,运用MATLAB仿真验证了控制器的快速收敛性和有效性。

Based on the similarity theory, two degrees of freedom flight test platform was designed to simulate the helicopter, then the platform was taken as the research object, and the Lagrange-Euler equation and the equivalent moment method were used to derive the system dynamics model, and the physical parameter was estimated. The relationship between the lift force and the rotation speed of the main rotor was obtained in the experiments with fixed collective angle. According to the equation derived above, a PID revised feed-forward control algorithm with robust characteristics was designed, and the attitude servo-control of the overall system was achieved. Finally, the fast astringency and the validity of the controller were confirmed by the MATLAB simulation.