引用本文:袁夏明,朱纪洪,毛漫.共轴式无人直升机建模与鲁棒跟踪控制[J].控制理论与应用,2014,31(10):1285~1294.[点击复制]
YUAN Xia-ming,ZHU Ji-hong,MAO Man.Modeling and robust tracking control for coaxial unmanned helicopter[J].Control Theory and Technology,2014,31(10):1285~1294.[点击复制]
共轴式无人直升机建模与鲁棒跟踪控制
Modeling and robust tracking control for coaxial unmanned helicopter
摘要点击 3185  全文点击 1791  投稿时间：2013-12-14  修订日期：2014-07-07
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DOI编号  10.7641/CTA.2014.31317
  2014,31(10):1285-1294
中文关键词  共轴式直升机  反馈线性化  鲁棒控制  轨迹跟踪
英文关键词  coaxial helicopter  feedback linearization  robust control  trajectory tracking
基金项目  国家自然科学基金资助项目(61104082).
作者单位E-mail
袁夏明 清华大学 计算机科学与技术系 summersbright@126.com 
朱纪洪* 清华大学 计算机科学与技术系 jhzhu@tsinghua.edu.cn 
毛漫 上海机电工程研究所  
中文摘要
      对共轴式无人直升机非线性、强耦合的动力学特性, 本文提出了一种基于动态反馈线性化方法的鲁棒跟踪控制策略. 首先根据叶素理论、Pitt-Peters动态入流模型、上下旋翼气动干扰分析建立了共轴式无人直升机的数学模型. 然后对于高度--姿态子系统, 通过扩展状态变量对其进行了动态反馈线性化, 分析了零动态特性. 根据内环期望跟踪特性对解耦后的子系统进行极点配置. 通过设计鲁棒补偿器实现了对高度与姿态指令的鲁棒跟踪. 在此基础上, 针对水平面内的位置子系统设计了外环比例微分(proportional-derivative, PD)控制器以实现位置跟踪. 最后, 通过内环跟踪仿真验证了反馈线性化方法良好的解耦特性, 通过干扰条件下的轨迹跟踪仿真验证了所设计控制器具有较好的控制性能与鲁棒性.
英文摘要
      To deal with the nonlinearity and coupling characteristics in dynamics of the coaxial unmanned helicopter, we propose a robust tracking control strategy via dynamic feedback linearization technique. According to the blade element theory, Pitt-Peters dynamic inflow model and the disturbance analysis of coaxial rotors, we build the mathematical model of a coaxial helicopter. On the height-attitude subsystem, a dynamic feedback linearization is performed through dynamic state augmentation, and the zero dynamic characteristic is analyzed. Poles are placed for the decoupled subsystems according to the desired performance of inner-loop dynamics. A robust complementary controller is employed to improve the robustness of height and attitude tracking. After that, an outer-loop proportional-derivative (PD) controller is designed for the planer position subsystem to realize trajectory tracking. Finally, the decoupling characteristic of feedback linearization is validated by tracking simulation of the inner loop, and the performance and robustness of the proposed controller for the whole system is also validated via trajectory tracking under disturbance.