一种共轴双旋翼飞行器悬停控制联合仿真

Hover Control Co-simulation of a Coaxial Dual-rotor Aircraft

利用Adams/MATLAB联合仿真平台,对一种具有周向均匀分布3个舵机的操纵机构共轴双旋翼飞行器悬停控制问题进行了研究。考虑到目前对上旋翼和下旋翼之间气动干扰没有准确的数学模型,在动力学建模时利用叶素理论和Pitt-Peters动态入流模型对飞行器的气动干扰和挥舞运动进行近似建模,其他未准确建模的部分用控制算法进行补偿。选用鲁棒性较强的滑动模态控制算法并与PID算法相结合对飞行器姿态进行控制,同时利用PID算法建立姿态和位置的关系,使其具备按照空间坐标点悬停的能力。将装配模型导入Adams中建立动力学模型,在Simulink搭建控制器并进行联合仿真。研究结果验证了所设计控制方法的有效性,飞行器悬停位置的最大动态误差小于±0. 2 m.

The Adams/MATLAB co-simulation platform is used to study the hover control of a coaxial dual-rotor aircraft with a steering mechanism around which three steering gears are uniformly distributed. Since there is currently no accurate mathematical model for the aerodynamic interference between the upper and lower rotors, the aerodynamic interference and flapping motion of aircraft are approximately modeled using the blade element theory and the Pitt-Peters dynamic inflow model. The inaccurately modeled part is compensated using a control algorithm. The robust tactical sliding mode control algorithm and proportion integration differentiation (PID) algorithm are used to control the aircraft attitude. And the PID algorithm is used to establish the relationship between aircraft attitude and position so that the aircraft has the ability to hover according to the spatial coordinate point. The assembly model is imported into Adams to establish a dynamic model, and a controller is built in Simulink for co-simulation. The research result shows that the proposed control method is effective, and the maximum dynamic error of hovering position of aircraft is less than ±0.2 m.