复合式无人直升机姿态控制半物理仿真验证

doi:10.12305/j.issn.1001-506X.2025.02.27

摘要/Abstract

摘要：

半物理仿真作为飞行控制系统设计验证的一条有效测试途径, 能降低其研制风险和成本。姿态控制回路是飞行控制系统设计的关键, 决定着飞行控制系统设计的成败。复合式无人直升机(compound unmanned helicopter, CUH)的飞行动态特性不但非线性明显、耦合性强, 而且操纵输入冗余, 给飞行控制律设计带来极大挑战。建立复合式无人直升机飞行动力学全量非线性运动方程, 以此为被控对象, 设计姿态线性自抗扰控制器(linear active disturbance rejection controller, LADRC), 用STM32F405嵌入式控制器作为机载控制器完成软、硬件实现, 被控对象飞行动力学模型构成姿态控制半物理仿真系统。机载控制器实时硬件在环, 姿态控制律设计为LADRC和比例-积分-微分控制器(proportion-integration-differentiation controller, PID)两种, 控制通道输出经操纵策略分配作用于被控对象模型操纵舵面, 采用姿态控制对比方法在半物理仿真系统上完成仿真试验。仿真结果验证LADRC满足CUH姿态控制要求, 其稳定性、抗扰性和鲁棒性均好于PID控制, 能使CUH在全飞行模式下稳定、可靠地飞行。试飞结果验证了所设计控制方法的有效性。

关键词: 复合式无人直升机, 操纵策略, 线性自抗扰控制, 半物理仿真

Abstract:

As an effective testing approach for the design verification of flight control system, semi-physical simulation can reduce its development risks and costs. The attitude control loop is the key to the design of flight control system and determines the success or failure of the flight control system design. The compound unmanned helicopter (CUH) has the flight dynamics characteristics of nonlinear, strong coupling and redundant control input, which brings great challenges to the design of flight control law. In this paper, the full nonlinear motion equation of the flight dynamics of the CUH is established, and the attitude linear active disturbance rejection controller (LADRC) is designed, which uses the STM32F405 embedded controller to complete the software and hardware implementation as the airborne controller. The attitude control semi-physical simulation system is formed with the flight dynamics model of the controlled object. The airborne controller as hardware-in-loop in real time is designed with two kinds of attitude control law, which is LADRC and proportion-integration-differentiation controller (PID). The channel outputs are assigned to the manipulation surfaces by a manipulation strategy. The simulation test is completed on the semi-physical simulation system by using the attitude control and contrast method. The simulation results verify that LADRC satisfies the attitude control demands of the CUH. The stability, anti-interference and robustness of LADRC are better than PID control, which can make the CUH fly stably and reliably in full flight mode. The flight testing results verify the effectiveness of the proposed control method.

Key words: compound unmanned helicopter (CUH), control strategy, linear active disturbance rejection control (LADRC), semi-physical simulation

中图分类号:

TP273

邓柏海, 徐锦法. 复合式无人直升机姿态控制半物理仿真验证[J]. 系统工程与电子技术, 2025, 47(2): 608-620.

Bohai DENG, Jinfa XU. Semi-physical simulation verification of attitude control for compound unmanned helicopter[J]. Systems Engineering and Electronics, 2025, 47(2): 608-620.

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参数	数值	参数	数值
起飞重量/kg	20	旋翼转速/rpm	1 700
螺旋桨半径/m	0.2	旋翼半径/m	0.75
螺旋桨桨叶片数	3	旋翼桨桨叶片数	2

飞行模式	直升机	固定翼
航向通道	螺旋桨转速差动	螺旋桨转速差动
滚转通道	横向周期变距	副翼
俯仰通道	纵向周期变距	升降舵
垂向通道	旋翼总距	升降舵、旋翼总距
前向拉力	纵向周期变距	螺旋桨转速

控制器	$\psi$	ϕ	θ
w_c	3.8	3.5	3.6
b₀	35	20	30
w₀	5	2	3

控制器	/(°)	ϕ/(°)	θ/(°)	$\psi$′/(rad/s)	ϕ′/(rad/s)	θ′/(rad/s)
k_p	208.3	120.2	34	0.035	0.02	0.03
k_i	400	120.35	300.8	0	0	0
k_d	10.5	1.25	0.1	0	0	0

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