无人直升机 LPV 控制律设计

Biao Duan, Shu Yang, Aijun Li

科研成果: 期刊稿件文章同行评审

1 引用 (Scopus)

摘要

An LPV control scheme is proposed to design integrated flight control laws for unmanned helicopters. The LPV control law achieves explicit model following performance for an unmanned helicopter in velocity, sideslip angle, altitude, and yaw angle control channels, leading to desired flight path control performance. A nonlinear mathematical model is developed for an unmanned helicopter to take into consideration the coupling among rotor blade flapping and lead-lag dynamics, rotor inflow dynamics, and fuselage dynamics. Since helicopter dynamics is periodic, harmonic balance method is employed to conduct trim and model linearization, leading to an LPV model used to perform LPV control design in a velocity envelope. Parameters of the LPV control law are determined by solving a convex optimization problem. Numerical simulations are conducted to examine the performance of the LPV control law based on typical helicopter maneuvers under sensor noise. Results show that the proposed law has good performance and robustness in helicopter velocity envelope, satisfying performance standards of each maneuver of an unmanned helicopter.

投稿的翻译标题Design of LPV control law for unmanned helicopter
源语言繁体中文
页(从-至)879-890
页数12
期刊Beijing Hangkong Hangtian Daxue Xuebao/Journal of Beijing University of Aeronautics and Astronautics
49
4
DOI
出版状态已出版 - 4月 2023

关键词

  • explicit model following
  • high-order dynamics model
  • integrated flight control
  • linear parameter varying control
  • robust control
  • unmanned helicopter

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