无人直升机吊挂运输飞行协调控制设计

Design of Coordinate Control for Unmanned Helicopter on Slung Flight

针对无人直升机吊挂运输飞行,采用自抗扰控制(ADRC)方法,设计了巡航状态下吊挂飞行协调控制和目标点附近吊挂消摆轨迹规划控制策略,并进行了仿真验证。仿真结果表明,采用自抗扰控制后,无人直升机巡航状态下吊挂飞行协调控制动态响应时间短,超调量与静态误差小,跟踪性能良好,到达预设位置后消摆效果明显。

Considering that the slung flight control of the unmanned helicopter,this paper adopted the auto-disturbance-rejection control method to design the slung flight coordinate control in the cruise state and the anti-swing trajectory planning control strategy near the target point,and simulated to verify the control results.The simulation showed that for the slung flight coordinated control in the cruise state of the unmanned helicopter,the adopted auto-disturbance-rejection control leads to short dynamic response time,small overshoot and static error,the satisfied tracking performance,and obvious anti-swing effect after reaching the preset position.