基于改进自抗扰算法的直升机锁尾控制系统设计

Heading controller for helicopters based on modified active disturbance rejection control

为了提升小型无人直升机的航向运动的动态特性与工况适应性,基于自抗扰控制方法(ADRC)提出了一种适用于小型无人直升机的锁尾控制器。通过实时递推遗忘因子最小二乘估计器对直升机航向轴的执行放大系数进行了参数辨识。根据辨识结果,构造了以直升机主旋翼转速作为自变量的执行放大系数解析表达式,用于在线计算不同工况下的执行放大系数。该表达式作为对标准ADRC控制结构的补充与改进,可提高ADRC控制器的工况适应性。以一550级别电动直升机为试验机型进行了试验验证。改进的ADRC控制器相比传统PID控制器,阶跃响应过渡时间缩短约40%,且能在更宽的主旋翼转速范围内保持稳定。试验结果表明改进的ADRC控制器在动态性能和工况适应性等方面较传统PID控制器和标准ADRC控制器更具优势。

In order to improve the transient characteristic and working condition adaptability of miniature unmanned helicopters, a heading hold controller is presented based on modified active disturbance rejection control（ADRC）. An online forgetting factor recursive least square algorithm is adopted to identify the output gain of the target helicopter. The identification result is condensed into a function of main rotor speed, adapting to various working conditions. This function is contained in the proposed ADRC controller as replenishment to the standard scheme. Experiments are conducted on a 550-class electric helicopter. A reduction of about 40% in transient time（comparing with an off-the-shelf PID controller） is achieved in the experiment. The comparison result shows that the proposed ADRC scheme outperforms the classic PID controller and standard ADRC controller in transient character and condition adaptability.