【摘要】：小型無人直升機(jī)因其具有隨時(shí)起降、低空飛行等優(yōu)異性能使其在軍事和民用上都被廣泛應(yīng)用。但由于直升機(jī)是一個(gè)內(nèi)部結(jié)構(gòu)復(fù)雜、非線性、強(qiáng)耦合的飛行器,在飛行過程中極易受到溫度變化、風(fēng)力變化等環(huán)境因素的干擾,因而開發(fā)一套理想的無人直升機(jī)飛控系統(tǒng)具有諸多難題。首先,直升機(jī)本身具有的非線性以及高度復(fù)雜性,使其很難建立一套完整的機(jī)理模型。其次,直升機(jī)本身的不穩(wěn)定性導(dǎo)致對(duì)輸入的反應(yīng)非常敏感,需要加入高頻的反饋信號(hào)使其穩(wěn)定。再次,直升機(jī)在飛行過程中橫縱向耦合以及高度與偏航間耦合嚴(yán)重,這增加了控制器設(shè)計(jì)的難度。最后直升機(jī)飛行過程中存在高危險(xiǎn),這影響飛行實(shí)驗(yàn)的安全。針對(duì)以上的小型無人直升機(jī)的特點(diǎn),本文首先以直升機(jī)飛行力學(xué)為基礎(chǔ),建立小型無人直升機(jī)的機(jī)理模型。深度分析了小型無人直升機(jī)內(nèi)部的力學(xué)關(guān)系及運(yùn)動(dòng)方程,得到小型無人直升機(jī)的各個(gè)輸入輸出通道的傳遞函數(shù)原始結(jié)構(gòu)模型,然后基于CIFER系統(tǒng)辨識(shí)建模,以建立的傳遞函數(shù)原始結(jié)構(gòu)模型為基礎(chǔ),提出了一種改進(jìn)的系統(tǒng)辨識(shí)方法,將最小二乘法應(yīng)用到搜索狀態(tài)空間模型最小代價(jià)函數(shù)中,加快了代價(jià)函數(shù)收斂的速度。通過仿真對(duì)比,改進(jìn)的辨識(shí)方法進(jìn)一步提升了系統(tǒng)辨識(shí)的精度,從而建立得到了具有良好跟蹤效果的小型無人直升機(jī)傳遞函數(shù)模型。本文利用自抗擾控制方法來建立小型無人直升機(jī)的控制系統(tǒng),實(shí)現(xiàn)了對(duì)無人直升機(jī)在俯仰、偏航、滾轉(zhuǎn)、高度四個(gè)通道的控制器設(shè)計(jì),從而克服了飛行試驗(yàn)中的各種擾動(dòng)因素,使辨識(shí)得到的模型能夠更好的運(yùn)用于工程實(shí)踐中。本文使用的飛控仿真平臺(tái)是MATLAB中的SIMULINK,利用該平臺(tái)對(duì)建立的傳遞函數(shù)結(jié)構(gòu)模型進(jìn)行了仿真測試,在模型中分別加入了自抗擾控制器以及傳統(tǒng)的PID控制器,對(duì)兩個(gè)控制器的抗干擾效果進(jìn)行了對(duì)比。仿真結(jié)果表明所設(shè)計(jì)的自抗擾控制器在抗干擾效果上要優(yōu)于傳統(tǒng)的PID控制器,從而證明自抗擾控制器具有很高的實(shí)用性與有效性。
[Abstract]:Small unmanned helicopter is widely used in military and civilian because of its excellent performance such as taking off and landing at any time and flying at low altitude. However, the helicopter is a complex, nonlinear and strongly coupled aircraft, which is easily disturbed by environmental factors such as temperature change, wind force change and so on. Therefore, it is difficult to develop an ideal unmanned helicopter flight control system. Firstly, the nonlinear and high complexity of the helicopter makes it difficult to establish a complete mechanism model. Secondly, the instability of the helicopter itself leads to a very sensitive response to the input, and high frequency feedback signals are needed to stabilize the helicopter. Thirdly, the horizontal and longitudinal coupling and the coupling between altitude and yaw are very serious, which increases the difficulty of controller design. Finally, there is a high risk in the helicopter flight, which affects the safety of the flight experiment. In view of the characteristics of the above small unmanned helicopter, the mechanism model of the small unmanned helicopter is established on the basis of helicopter flight mechanics. The mechanical relations and motion equations of the small unmanned helicopter are deeply analyzed, and the original structure model of the transfer function of each input and output channel of the small unmanned helicopter is obtained, and then the model is established based on CIFER system identification. Based on the original structure model of the transfer function, an improved system identification method is proposed. The least square method is applied to the minimum cost function of the search state space model, which accelerates the convergence of the cost function. The simulation results show that the improved identification method can further improve the accuracy of the system identification and thus establish the transfer function model of the small unmanned helicopter with good tracking effect. In this paper, the control system of small unmanned helicopter is established by using the ADRC method, and the controller design of pitch, yaw, roll and altitude of unmanned helicopter is realized, which overcomes all kinds of disturbance factors in flight test. The identified model can be better used in engineering practice. The flight control simulation platform used in this paper is SIMULINK, in MATLAB. The transfer function structure model is simulated and tested by using the platform. The ADRC controller and the traditional PID controller are added to the model, respectively. The anti-interference effect of the two controllers is compared. The simulation results show that the designed ADRC is superior to the traditional PID controller in anti-jamming effect, which proves that the ADRC has high practicability and effectiveness.
【學(xué)位授予單位】：南昌航空大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2016
【分類號(hào)】：V279;V249.1

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