摘要
分析了一种复合式高速直升机的飞行原理,设计了不同飞行模式下的操纵策略,并建立了飞行动力学模型。考虑传感器噪声和复杂飞行环境导致的系统状态难以准确测量的问题,提出了一种基于高阶滑模微分器的姿态自抗扰控制算法。在MATLAB/Simulink环境下构建了复合式高速直升机姿态控制系统,并与PID(proportion integral differential)控制器和LQG(linear quadratic Gaussian)控制器进行了仿真对比。研究结果表明:所提出的基于高阶滑模微分器的姿态自抗扰控制器能够实现对姿态角的无超调跟踪,相较于PID控制器和LQG控制器,误差收敛速度分别提升31.5%和64.2%,且在噪声干扰下,最大跟踪误差比LQG控制器小34.2%,比PID控制器小39.5%。
The flight principle of the compound high-speed helicopter was analyzed,the control strategies for different flight modes were designed,and the flight dynamics model was constructed.An attitude active disturbance rejection control algorithm based on high-order sliding mode differentiator was proposed to address the problem in accurately measuring system states caused by sensor noises and complex flight environment.Then an attitude tracking control system for the compound high-speed helicopter was constructed in MATLAB/Simulink,and simulation comparison was conducted with PID(proportion integral differential)controller and LQG(linear quadratic Gaussian)controller.The research results indicated that the proposed controller can quickly and stably track the target attitude angle without overshooting.Compared with PID controller and LQG controller,the error convergence speed increased by 31.5%and 64.2%,respectively.Moreover,under noise disturbance,the maximum tracking error was 34.2%smaller than LQG controller and 39.5%smaller than PID controller.
作者
尹欣繁
聂博文
安宏雷
贾圣德
马宏绪
YIN Xinfan;NIE Bowen;AN Honglei;JIA Shengde;MA Hongxu(College of Intelligence Science and Technology,National University of Defense Technology,Changsha 410073,China;Low Speed Aerodynamics Institute,China Aerodynamics Research and Development Center,Mianyang Sichuan 621000,China)
出处
《航空动力学报》
北大核心
2025年第9期472-481,共10页
Journal of Aerospace Power
基金
国防科技大学研究生创新项目(XJQY2024025)。
关键词
高阶滑模微分器
复合式直升机
高速直升机
自抗扰控制
姿态控制
high-order sliding mode differentiator
compound helicopter
high-speed helicopter
active disturbance rejection control
attitude control
