无人直升机吊挂系统滑模反步减摆控制

Sliding Mode Backstepping Anti-Swing Control of Unmanned Helicopter Slung-Load System

无人直升机吊挂系统可运输较大体积和质量较大的货物,在军事和民用领域都有着广泛应用。在无人直升机吊挂飞行过程中容易受到外部未知干扰的影响,导致闭环系统控制性能变差,从而引起吊挂负载振荡,威胁到直升机的飞行安全。本文基于对吊索为刚体的假设,给出无人直升机刚体吊挂非线性动力学模型。首先,通过滑模反步法解算出使吊挂负载摆角稳定所需的直升机平面飞行速度,然后,设计跟踪控制器对直升机平面飞行的速度和姿态进行跟踪控制,使吊挂负载的摆角稳定在平衡位置。仿真结果表明,所设计的滑模反步减摆跟踪控制器是有效的。

The unmanned helicopter slung-load system can transport goods with large volume and high quality,which is widely used in military and civil fields.However,the closed-loop system control performance of the unmanned helicopter is easily affected by external unknown interference during the slung-load flight,which will cause the slung-load to oscillation and will threaten the flight safety of the helicopter.Based on the assumption that the suspension cable is a rigid body,a nonlinear dynamic model is given for the unmanned helicopter rigid-body slung-load system.Firstly,the sliding mode backstepping method is used to calculate the helicopter plane flight speed which provides a stable swing angle for the slung load.Then,a tracking controller is designed to control the speed and attitude of the helicopter,so that the swing angle of the slung load is stabilized at the equilibrium position.The simulation results show that the designed sliding mode backstepping anti-swing tracking controller is effective.