TY - JOUR
T1 - 无人直升机 LPV 控制律设计
AU - Duan, Biao
AU - Yang, Shu
AU - Li, Aijun
N1 - Publisher Copyright:
© 2023 Beijing University of Aeronautics and Astronautics (BUAA). All rights reserved.
PY - 2023/4
Y1 - 2023/4
N2 - 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.
AB - 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.
KW - explicit model following
KW - high-order dynamics model
KW - integrated flight control
KW - linear parameter varying control
KW - robust control
KW - unmanned helicopter
UR - http://www.scopus.com/inward/record.url?scp=85153579446&partnerID=8YFLogxK
U2 - 10.13700/j.bh.1001-5965.2021.0340
DO - 10.13700/j.bh.1001-5965.2021.0340
M3 - 文章
AN - SCOPUS:85153579446
SN - 1001-5965
VL - 49
SP - 879
EP - 890
JO - Beijing Hangkong Hangtian Daxue Xuebao/Journal of Beijing University of Aeronautics and Astronautics
JF - Beijing Hangkong Hangtian Daxue Xuebao/Journal of Beijing University of Aeronautics and Astronautics
IS - 4
ER -