微小型无人直升机协调转弯的控制和实现

Control and implemention on coordinated turn of miniature unmanned helicopter

针对微小型无人直升机（ MUH）协调转弯的问题,提出了控制策略和实施方案。首先在MUH数学模型的基础上,建立了MUH的状态方程,灰箱辨识得到其参数；然后分析了协调转弯的工作原理,并以无人直升机的军标ADS-33E-PRF作为参考,利用Matlab sisotool工具箱设计了协调转弯控制器,反复调整参数使其满足军标的level1标准；最后基于该对象和设计的控制器,在3~6m/s的风速下,进行了实物飞行实验。实际飞行结果表明：协调转弯控制姿态稳定,速度误差在±0.5 m/s以内,高度保持相对稳定,误差在±1.2 m以内,水平曲线近似一个圆,XY位置误差在8%以内。结果验证了所设计的协调转弯控制器可靠,工程上能实现,具备良好的鲁棒性和动态性能。

Concerning the problem of coordinated turn in Miniature Unmanned Helicopter （ MUH） , a control strategy and an implementation scheme were proposed. First, based on the mathematical model of the MUH, the state equations were formulated, the parameters were obtained by grey-box idendification. Then, after analyzing the working principle of the coordinated turn and the demand of military standard ADS-33E-PRF, a PID cascade controller was designed by Matlab sisotool toolbox to meet level1 standards. Finally, based on the object and the designed controller, a flight experiment was conducted under the wind speed of 3-6 m/s. The flight results indicate that the performance of the coordinated turn works well：attitude is stable, velocity errors are controlled within ± 0. 5 m/s, height remains relatively stable in the error range of ± 1. 2 m, horizontal curves approximate a circle and XY position errors are within 8%. The results verify that the designed controller is reliable, can be realized in engineering and has a good robust and dynamic performance.