基于LPV模型逆的无人直升机中低速巡航控制

LPV model inversion based low-medium speed cruise control on an unmanned helicopter

为了提高无人直升机闭环控制系统的动态带宽,从非线性标称模型中通过动态线性化得到变化参数为前进比的线性参数变化模型,以此构造模型逆控制器。这种控制器综合方法分为姿态和速度共内外两层结构,并且可以有效地实现各级动态指标。通过借用非线性标称模型构建的闭环系统仿真表明:这种控制器综合方法在无人直升机从悬停到低中速前飞的动态范围中有令人满意的控制效果。

The bandwidth of a closed loop flight system in a mini unmanned helicopter （MUH） is improved by a linear parameter-varying （LPV） model derived from a nonlinear nominal model with a variable advance ratio in the model inversion controller. The controller includes an inner-loop attitude controller and an outeFloop velocity and trajectory tracking controller that provides the desired dynamic performance. Numerical simulations based on the nonlinear nominal MUH model show that the control provides a dynamic range from hover to low-medium speed forward motion.