基于陷波器整形的无人直升机滚转姿态控制律设计与验证
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摘要
在某型无人直升机横向通道控制律设计时,由于中高频存在二阶共振特性,采用常规PID控制器无法提高姿态响应速度,通过研究基于二阶陷波器整形的方法,消除了无人直升机横向通道的二阶共振峰,提高了控制器的增益和滚转姿态响应速度,并开展了悬停状态试飞调参对比实验。实验结果表明:采用基于陷波器整形的PID控制器比常规PID控制器增益提高了3.5倍以上,并提高了滚转通道的阻尼比,使得滚转姿态响应更加迅捷、无振荡,提高了滚转姿态跟踪控制飞行品质。
In the design of the lateral channel control law of a type of unmanned helicopter, conventional PID control cannot improve the attitude response speed due to second-order resonance in middle-high frequency. The second-order notch filter shaping method is used to eliminate the secondorder resonance peak in the lateral channel of unmanned helicopter, to improve the gain and roll attitude response speed of the controller, and to conduct the flight test parameter comparison experiment in hover state. Experiment results show that the gain of the PID controller based on notch filter shaping is increased by more than 3.5 times compared with the traditional PID controller, the damping ratio of the roll channel is increased and the roll attitude response is non-oscillation and more rapid, which improves the control flight quality of roll attitude tracking.
In the design of the lateral channel control law of a type of unmanned helicopter, conventional PID control cannot improve the attitude response speed due to second-order resonance in middle-high frequency. The second-order notch filter shaping method is used to eliminate the secondorder resonance peak in the lateral channel of unmanned helicopter, to improve the gain and roll attitude response speed of the controller, and to conduct the flight test parameter comparison experiment in hover state. Experiment results show that the gain of the PID controller based on notch filter shaping is increased by more than 3.5 times compared with the traditional PID controller, the damping ratio of the roll channel is increased and the roll attitude response is non-oscillation and more rapid, which improves the control flight quality of roll attitude tracking.
引文
[1]顾冬雷.无人直升机飞控系统研究[D].江苏:南京航空航天大学,2006.
[2]吴文海,耿昌茂.直升机飞行控制系统[M].北京:海潮出版社,2001.
[3]ADS-33E-PRF,Aeronautical design standard performance specification,handling qualities requirements for military rotorcraft[S].United States Army Aviation and Missile Command,2000.
[4]高正,陈仁良.直升机飞行力学[M].北京:科学出版社,2003.
[2]吴文海,耿昌茂.直升机飞行控制系统[M].北京:海潮出版社,2001.
[3]ADS-33E-PRF,Aeronautical design standard performance specification,handling qualities requirements for military rotorcraft[S].United States Army Aviation and Missile Command,2000.
[4]高正,陈仁良.直升机飞行力学[M].北京:科学出版社,2003.