无人直升机舰面起降鲁棒姿态控制器设计

Design of Robust Attitude Controller for Unmanned Helicopter Carrier Take off and Landing

针对无人直升机舰面起降任务中的姿态控制器展开研究,首先对舰载无人直升机在起降任务过程中特有的舰尾流干扰进行数学建模,并建立无人直升机与舰尾流的一体化模型,分析舰尾流对无人直升机航姿状态的影响;并采用基于改进线性自抗扰控制理论设计无人直升机鲁棒姿态控制器,实现姿态角的快速跟踪和舰尾流干扰抑制补偿;最后将所设计的鲁棒姿态控制器与常规PID控制器在干扰下的控制结果进行对比分析。对比验证结果表明,所设计的姿态控制器有更好的鲁棒性,可以满足舰载无人直升机在起降特殊工作环境的技术需求。

The attitude controller of unmanned helicopter in ship based take off and landing mission is studied.Firstly,the mathematical model of ship wake interference unique to ship based unmanned helicopter in the process of take off and landing mission is established,and the integrated model of unmanned helicopter and ship wake is established.The influence of ship wake on the attitude of unmanned helicopter is analyzed.The robust attitude controller of unmanned helicopter is designed based on the improved linear active disturbance rejection control theory,which realizes the fast tracking of attitude angle and the suppression and compensation of ship wake disturbance.Finally,the control results of the robust attitude controller and the conventional PID controller under disturbance are compared and analyzed.The comparison results show that the designed attitude controller has better robustness and can meet the technical requirements of the shipboard unmanned helicopter in the special working environment of take off and landing.