纵列式无人直升机滑模姿态控制律设计

Sliding Mode Attitude Control Law Design for Unmanned Tandem Rotor Helicopter

摘要:

文章以某型纵列式双旋翼无人直升机为研究对象,对其内环姿态控制律进行了设计与改进研究。针对该纵列式无人直升机在飞行过程中存在的强耦合性、高度非线性、偏航效率低以及受某些外界干扰影响较大的问题,采用非奇异终端滑模控制策略,并结合改进的双幂次趋近律,以实现对飞行姿态的高精度控制。此外,为了进一步增强控制系统的抗扰能力,设计了扩张状态观测器以有效抑制外界干扰。仿真结果表明,所设计的姿态控制律显著改善了控制系统的动态响应特性、抗扰性能和鲁棒性,并在很大程度上提升了系统抑制滑模抖振的能力。

Abstract:

A certain type of unmanned tandem rotor helicopter is taken as the research object, the inner loop attitude con-trol law is designed and improved. In response to the problems of strong coupling, high nonlinearity, low yaw efficiency, and significant external interference in the flight process of the unmanned tandem rotor helicopter, a non-singular terminal sliding mode control strategy is adopted, combined with an improved double power approaching law, to achieve high-precision control of the flight attitude. In addition, in order to further enhance the anti-interference ability of the control system, an extended state observer is designed to effectively suppress external disturbances. The simulation results show that the attitude control law designed significantly improves the dynamic response characteristics, disturbance rejection performance, and robustness of the control system, and greatly enhances the system's ability to suppress sliding mode chattering.