[1]姚志豪,祖家奎,叶晓宇,等.无人直升机舰面起降鲁棒姿态控制器设计[J].机械与电子,2023,41(12):74-80.
　YAO Zhihao,ZU Jiakui,YE Xiaoyu,et al.Design of Robust Attitude Controller for Unmanned Helicopter Carrier Take-off and Landing[J].Machinery & Electronics,2023,41(12):74-80.
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无人直升机舰面起降鲁棒姿态控制器设计()
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
41
期数:
2023年12期
页码:
74-80
栏目:
机电一体化
出版日期:
2023-12-30

文章信息/Info

Title:
Design of Robust Attitude Controller for Unmanned Helicopter Carrier Take-off and Landing
文章编号:
1001-2257 ( 2023 ) 12-0074-07
作者:
姚志豪; 祖家奎; 叶晓宇; 刘世龙
南京航空航天大学自动化学院,江苏 南京 211106
Author(s):
YAO Zhihao ;  ZU Jiakui ;  YE Xiaoyu ;  LIU Shilong
( College of Automation Engineering , Nanjing University of Aeronautics and Astronautics , Nanjing 211106 , China )
关键词:
舰载无人直升机; 舰尾流; 线性自抗扰; 姿态控制器
Keywords:
shipborne unmanned helicopter ;  ship wake ;  LADRC ;  attitude controller
分类号:
V279 ; V249.1
文献标志码:
A
摘要:
针对无人直升机舰面起降任务中的姿态控制器展开研究,首先对舰载无人直升机在起降任务过程中特有的舰尾流干扰进行数学建模,并建立无人直升机与舰尾流的一体化模型,分析舰尾流对无人直升机航姿状态的影响;并采用基于改进线性自抗扰控制理论设计无人直升机鲁棒姿态控制器,实现姿态角的快速跟踪和舰尾流干扰抑制补偿;最后将所设计的鲁棒姿态控制器与常规 PID 控制器在干扰下的控制结果进行对比分析。对比验证结果表明,所设计的姿态控制器有更好的鲁棒性,可以满足舰载无人直升机在起降特殊工作环境的技术需求。
Abstract:
The attitude controller of unmanned helicopter in ship-based take-off and landing mission is studied.Firstly , the mathematical model of ship wake interference unique to ship-based unmanned helicopter in the process of take-off and landing mission is established , and the integrated model of unmanned helicopter and ship wake is established.The influence of ship wake on the attitude of unmanned helicopter is analyzed.The robust attitude controller of unmanned helicopter is designed based on the improved linear active disturbance rejection control theory , which realizes the fast tracking of attitude angle and the suppresion and compensation of ship wake disturbance.Finally , the control results of the robust attitude controller and the conventional PID controller under disturbance are compared and analyzed.The comparison results show that the designed attitude controller has better robustness and can meet the technical requirements of the shipboard unmanned helicopter in the special working environment of take-off and landing.

参考文献/References:

[ 1 ] 袁涛,单俊杰,刘明,等 . 舰载无人直升机的作战应用及其关键技术[ J ] . 直升机技术, 2020 ( 4 ): 61-64.

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备注/Memo

备注/Memo:
收稿日期: 2023-05-06
作者简介:姚志豪 ( 1998- ),男,江苏常熟人,硕士研究生,研究方向为飞行控制、嵌入式系统;祖家奎 ( 1974- ),男,江苏徐州人,博士,副研究员,研究方向为无人机飞行控制、嵌入式系统。
更新日期/Last Update: 2024-01-12