小型无人直升机悬停小速度段位置控制技术

Position Control Technology of Hover and Low-Speed Flight For Small Unmanned Helicopter

无人直升机在悬停/小速度飞行阶段具有特殊的物理特性,给控制系统的设计带来了诸多技术难题;针对无人直升机悬停/小速度段位置控制的需求,提出了一种基于"姿态角阻尼内回路"的位置控制结构,该控制结构采用内回路姿态角阻尼增稳,外回路位置控制的控制方式;并且针对增稳回路自适应性、抗风补偿和位置控制精度等问题,分别采用前馈自动配平机制与非线性PID控制方法对常规控制律进行改进;仿真验证表明,所提出的控制策略和控制律设计结果达到了较好的控制效果。

During hover and low--speed flight, the small unmanned helicopter has special physical characteristics, which brings various technical problems to the design of flight control system. After analyzing the control requirement of hover and low--speed flight for a small scale unmanned helicopter, a control strategy called ＂attitude damping in--loop＇, which using inner/outer loop structure is presented. The inner loop augments the stability by attitude damping and the outer loop controls the position. The forward automatic trim and nonlinear control method are put forward to improve the adaptability of augmentation loop and control precision of position control loop. Finally, the feasibility and effectiveness of the control strategy are verified through simulation.