小型无人直升机控制及稳定性分析

Control and stability analysis of small-size autonomous helicopters

本文介绍了线性和非线性控制法则两种控制律设计方法在小型直升机上的应用,采用双时域衡量分析方法来分析直升机系统动力学特性。紧子系统和慢子系统分别用于分析直升机转动和平动动力学特性,紧子系统的稳定性是由李亚普诺夫方程保证,同时采用反馈线性化方法稳定控制内回路。此外,在给出线性控制律缺点的同时给出了改进后的非线性控制律,该控制律可以在无人直升机执行大角度、快速度飞行运动科目时更稳定可靠的控制直升机。

The application of design methods of both linear and non-linear control laws in small-size autonomous helicopter is introduced in this paper. A two-time scale decomposition method is used to analyze the dynamics characteristics of the helicop-ter. The fast subsystem ans slow subsystem are applied to analysis of the rotational and translational dynamics characteristics re-spectively. The stability of the fast subsystem is ensured by means of a Lyapunov equation. Furthermore,a feedback linearization technique is adopted to stabilize the control inner loop. Moreover,the drawbacks of the linear control law are pointed out and an improved nonlinear control law is proposed. This control law is able to control the helicopter when large variations occur in the orientation angle and position of the helicopter.