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

Abstract

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

CLC Number:

TP273

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

[1]	WANG Biao, TANG Chaoying, YAO Zhennan. Trajectory tracking control of unmanned aerial vehicles based oncascaded LADRC design [J]. Systems Engineering and Electronics, 2019, 41(6): 1358-1365.
[2]	JIN Jian, CHEN Bohan. Analysis on control strategies of CO2 partial pressure of manned spacecraft assemble with multi-cabins [J]. Systems Engineering and Electronics, 2018, 40(6): 1351-1357.

Semi-physical simulation verification of attitude control for compound unmanned helicopter

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