[1]刘世龙,祖家奎,位士超,等.基于显模型跟踪控制的无人直升机操纵杆控制律设计[J].机械与电子,2025,(05):64-69.
　LIU Shilong,ZU Jiakui,WEI Shichao,et al.Design of Unmanned Helicopter Joystick Control Law Based on Explicit Model Tracking Control[J].Machinery & Electronics,2025,(05):64-69.
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基于显模型跟踪控制的无人直升机操纵杆控制律设计()
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2025年05期
页码:
64-69
栏目:
智能制造
出版日期:
2025-05-23

文章信息/Info

Title:
Design of Unmanned Helicopter Joystick Control Law Based on Explicit Model Tracking Control
文章编号:
1001-2257 ( 2025 ) 05-0064-06
作者:
刘世龙; 祖家奎; 位士超; 秦 勇
南京航空航天大学自动化学院,江苏 南京 211106
Author(s):
LIU Shilong ;  ZU Jiakui ;  WEI Shichao ;  QIN Yong
( College of Automation Engineering , Nanjing University of Aeronautics and Astronautics , Nanjing 211106 , China )
关键词:
操纵杆; 显模型跟踪控制; 无人直升机; 逆模型
Keywords:
joystick ;  explicit model tracking control ;  unmanned helicopter ;  inverse model
分类号:
V249.1
文献标志码:
A
摘要:
为满足无人直升机在视距范围内的快速操纵能力和紧急处置能力的要求,针对无人直升机飞行控制中的操纵杆控制展开研究。首先,梳理出操纵杆应具备的功能及要求,在此基础上提出姿态模式和 GPS 混控模式 2 种控制模式,并阐述操纵杆的杆量定义。与此同时,为了降低直升机轴间耦合并减轻操纵人员负担,采用了基于逆模型的显模型跟踪控制设计操纵杆控制系统,在此基础上通过引入横纵向的微分项形成前馈控制,提高系统响应速度。最后,对 4 个操纵通道分别进行解耦仿真验证,并且对二阶系统的操纵通道进行跟踪响应仿真验证,仿真结果及性能分析结果表明,该控制系统具有良好的解耦特性和跟踪性能,可以满足无人直升机的人工操纵控制需求。
Abstract:
This paper focuses on the research of joystick control in unmanned helicopter flight control to meet the requirements of maneuvering and emergency response capabilities.Firstly , the functional requirements of the joystick are outlined.Based on this , two control modes , attitude mode and GPS hybrid mode , are proposed , and the functional definition of the joystick is explained.In order to reduce the coupling between helicopter shafts and alleviate the burden on operators , a joystick control system based on explicit model tracking control based on inversemodel was designed.On this basis , feedforward control is achieved by introducing horizontal and vertical differential terms to improve system response speed.Finally , decoupling simulation verification was performed on each of the four control channels , and tracking response simulation verification was performed on the control channels of the second order system.The simulation and performance analysisresults show that the control system has good decoupling characteristics and tracking performance , and can meet the manual control requirements of unmanned helicopters.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期: 2024-09-16
作者简介:刘世龙 ( 2000- ),男,江苏南京人,硕士研究生,研究方向为飞行控制与仿真技术、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与仿真技术、嵌入式系统。
更新日期/Last Update: 2025-06-13