基于H_∞回路成形的无人直升机动态逆控制研究

Research on dynamic inverse control of unmanned helicopter based on H_∞ loop-shaping

针对微小型无人直升机动力学模型的控制需求,结合H_∞回路成形控制和动态逆控制的特点,分别将动态逆算法应用到角速率控制回路和姿态角控制回路,同时应用H_∞回路成形控制方法对姿控模型进行成形,建立3通道控制器,并与经典PID控制效果进行了仿真对比。仿真结果表明,基于H_∞回路成形的动态逆控制在控制效果及抗扰能力上优于经典PID控制律。在此基础上,采用AF25B微小型无人直升机飞行验证平台对算法进行了初步飞行验证。

In view of the dynamic model control requirements of miniature unmanned helicopter,combine H_∞loop-shaping with dynamic inverse control,the dynamic inverse algorithm is applied to the angle rate control and attitude angle control,the H_∞loop shaping control method is applied to the attitude control model,and a three-channel controller is established and compared with the classical PID control.The results show that the H_∞loop-shaping with dynamic inverse control is better than the classical PID control law in control effect and anti-disturbance ability.The flight verification platform of AF25 B unmanned mini-helicopter is used to validate the algorithm.