无人直升机 LPV 控制律设计

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.