基于系統辨識的小型無人直升機建模及控制器設計
發(fā)布時間：2018-08-29 20:29
【摘要】：小型無人直升機因其具有隨時起降、低空飛行等優(yōu)異性能使其在軍事和民用上都被廣泛應用。但由于直升機是一個內部結構復雜、非線性、強耦合的飛行器,在飛行過程中極易受到溫度變化、風力變化等環(huán)境因素的干擾,因而開發(fā)一套理想的無人直升機飛控系統具有諸多難題。首先,直升機本身具有的非線性以及高度復雜性,使其很難建立一套完整的機理模型。其次,直升機本身的不穩(wěn)定性導致對輸入的反應非常敏感,需要加入高頻的反饋信號使其穩(wěn)定。再次,直升機在飛行過程中橫縱向耦合以及高度與偏航間耦合嚴重,這增加了控制器設計的難度。最后直升機飛行過程中存在高危險,這影響飛行實驗的安全。針對以上的小型無人直升機的特點,本文首先以直升機飛行力學為基礎,建立小型無人直升機的機理模型。深度分析了小型無人直升機內部的力學關系及運動方程,得到小型無人直升機的各個輸入輸出通道的傳遞函數原始結構模型,然后基于CIFER系統辨識建模,以建立的傳遞函數原始結構模型為基礎,提出了一種改進的系統辨識方法,將最小二乘法應用到搜索狀態(tài)空間模型最小代價函數中,加快了代價函數收斂的速度。通過仿真對比,改進的辨識方法進一步提升了系統辨識的精度,從而建立得到了具有良好跟蹤效果的小型無人直升機傳遞函數模型。本文利用自抗擾控制方法來建立小型無人直升機的控制系統,實現了對無人直升機在俯仰、偏航、滾轉、高度四個通道的控制器設計,從而克服了飛行試驗中的各種擾動因素,使辨識得到的模型能夠更好的運用于工程實踐中。本文使用的飛控仿真平臺是MATLAB中的SIMULINK,利用該平臺對建立的傳遞函數結構模型進行了仿真測試,在模型中分別加入了自抗擾控制器以及傳統的PID控制器,對兩個控制器的抗干擾效果進行了對比。仿真結果表明所設計的自抗擾控制器在抗干擾效果上要優(yōu)于傳統的PID控制器,從而證明自抗擾控制器具有很高的實用性與有效性。
[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.
【學位授予單位】：南昌航空大學
【學位級別】：碩士
【學位授予年份】：2016
【分類號】：V279;V249.1
本文編號：2212336
[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.
【學位授予單位】：南昌航空大學
【學位級別】：碩士
【學位授予年份】：2016
【分類號】：V279;V249.1
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