无人直升机航路跟踪控制系统设计与仿真

Design and Simulation of Path Tracking Control System for Unmanned Helicopters

针对无人直升机耦合强和抗扰能力差的特点,提出了一种基于增量非线性动态逆和比例积分(PI)控制器的混合航路跟踪控制系统。首先,建立无人直升机的飞行动力学模型;其次,对增量非线性动态逆控制原理进行说明;随后,推导增量非线动态逆控制律计算式,并构建角速率、姿态以及高度控制回路;然后,采用PI控制器搭建航迹控制和速度控制回路;最后,通过4种工况下的飞行仿真验证了控制系统的鲁棒性和正确性。

In accordance with strong coupling and poor anti-disturbance characteristic of unmanned helicopter,a hybrid path following control system based on incremental nonlinear dynamic inverse and proportional-integral (PI) controller for unmanned helicopter is proposed.At first,the nonlinear flight dynamic model is built for unmanned helicopters.Secondly,the principle of incremental nonlinear dynamic inverse control is described.Then the incremental nonlinear dynamic inverse control law formula is deduced,and the angular rate,attitude and altitude control loops are constructed.After that,the PI controllers are used to construct the course track and speed control loop.Finally,the flight simulation under four operating conditions is performed to verify the robustness and correctness of the control system.