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以小型无人直升机为对象,采用分体法建立了完整的非线性飞行动力学数学模型。根据所建模型,进行了平飞状态下的配平计算。根据配平结果,获得了悬停时的线性状态空间模型。在考虑风扰动的前提下,采用H∞静态输出反馈控制方法对无人直升机内外回路控制器进行了设计。仿真结果表明,所建模型的配平结果与直升机特性基本相符,验证了模型的有效性;H∞综合控制方法较好地实现了扰动下无人直升机状态的控制,表明该算法具有良好的鲁棒性、解耦性及跟踪特性。
Taking the small unmanned helicopter as an object, a complete non-linear mathematical model of flight dynamics was established by the split method. According to the model, the leveling calculation under the condition of flat flight is carried out. According to the trim result, a linear state space model for hovering is obtained. Under the premise of considering wind disturbance, the H∞ static output feedback control method was used to design the unmanned helicopter internal and external loop controllers. Simulation results show that the results of the model are basically consistent with the characteristics of the helicopter, and the validity of the model is verified. The H∞ integrated control method can well realize the control of unmanned helicopter state under disturbances, indicating that the algorithm has good robustness Sexual, decoupling and tracking characteristics.