中型无人直升机内环控制器的设计与实现

Design and Implementation of Inner Loop Controller for Plant Protection Unmanned Helicopter

针对某中型无人直升机对内环控制的特殊需求,考虑模型参数不确定以及各种扰动对无人直升机控制的影响,设计一种基于线性自抗扰的内环控制系统,实现无人直升机控制系统对不确定扰动的抑制。介绍无人直升机动力学建模、稳定性分析、内环控制器设计与仿真验证的一整套设计流程。结果表明:所设计的内环控制器能够满足技术需求,有很好的抗扰效果,达到了预期的研究目标。

In line with the special demand of a certain type of plant protection unmanned helicopter for inner loop control and in consideration of the influence of model parameter uncertainty and various disturbances on the control of unmanned helicopter,an inner loop control system based on linear auto disturbance rejection is designed to realize the suppression of uncertain disturbances by the unmanned helicopter control system.This paper introduces a complete set of design flow of dynamics modeling,stability analysis,inner loop controller design and simulation verification of unmanned helicopter.The results show that the designed inner loop controller can meet the technical requirements with good anti-interference effect and the achievement of the expected research objectives.