基于频域辨识的无人直升机航迹跟踪控制

Path Tracking Control System Design for Unmanned Helicopter Using Frequency-Domain Identification

无人直升机飞行控制系统设计要求直升机数学模型能够精确的反映其动力学特性。考虑到直升机模型自身的复杂性,通过采集飞行试验中扫频输入和动态输出数据,计算频率响应,并拟合得到参数化的状态空间模型。在此基础上,设计双回路控制结构,结合导航算法实现航迹跟踪。仿真结果表明,该方法可以对无人直升机进行有效的飞行控制。

Helicopter control system design requires that the mathematical model can accurately reflect the dynamics of the helicopter. In this paper, state-space model is acquired from measured response to specific control inputs by using frequency-domain identification. Based on the acquired model, a multi-loop controller consisting of helmsman navigation method is designed to track the specified path. Simulation results show that the control law is quite effective to control the unmanned helicopter.