小型无人直升机悬停/小速度下的飞行控制律设计技术研究
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摘要
无人直升机因其独特的飞行特点而具有重要的军事和民用价值,又由于其自身的特殊构造,使无人直升机的建模与控制技术非常复杂,本文正是在这种背景下,进行无人直升机建模与控制技术的研究。
首先,建立了基于“圆盘理论”的无人直升机数学模型,建模时综合考虑了直升机各主要气动部件的建模,详细讨论了主旋翼的气动力模型、诱导速度模型和挥舞运动模型,整个仿真模型最终在S-Function平台上得到了实现。最后采用样例直升机数据,把“圆盘理论”模型和Flightlab模型进行对比,结果证明了“圆盘理论”建模方法的合理性和有效性。根据建模的目的和用途,把在Matlab环境下的数学模型转化为可用于“等效飞控”仿真或半物理实时仿真的C语言版本模型。
其次,介绍了无人直升机飞行控制律的设计工作,利用所建的非线性数学模型,经过配平线性化,得到悬停状态下的线性模型。根据直升机稳定性和耦合性的分析结果,对无人直升机的飞行控制策略、控制规律进行了研究,实现了无人直升机增稳、姿态、位置等飞行控制律。由于工程应用中,对姿态的控制达不到预期的精度,常规的位置控制律不能满足要求,因此提出了改进方案,圆满的解决了内回路控制不准的问题。
最后,根据“等效飞控”的思想,完成了RTOS32在Windows环境下的移植,实现了控制律代码在目标机环境和“等效飞控”环境下的完全一致。设计了“等效飞控”控制台软件等相关软件。并把“等效飞控”仿真和半物理实时仿真结果进行了对比,可以看出“等效飞控”设计环境可以应用于工程项目的开发,能够验证控制律的正确性。然后利用“等效飞控”环境,验证了悬停、回转、前飞、两点航线等飞行模态。
Unmanned Helicopter has good perspective of applications in military and civilian domain because of its unique flight property. And modeling and control techniques of unmanned helicopter are extremely complex also because of its own special structure, so the dissertation study modeling and control technology of helicopter under the station.
Firstly, a mathematical model for helicopter was developed based on mumentum theory. In the process of modeling, the primary aerodynamic components of helicopter were considered comprehensively. Main rotor is the key part of helicopter modeling, and the associated modeling methods of aerofoil aerodynamic loads, induced velocity and blade flap motion were discussed in detail. The whole model was performed in S-Function. Finally, the response analysis was carried out with the example helicopter’s data. The simulation results validate the rationality and validity of modeling theories and methods. According to the purpose and use of modeling, the model in the Matlab environment was converted into a mathematical model of the C language version which can be used for "equivalent flight control" or semi-physical simulation.
Secondly, trimmed and linearized the non-linear mathematical model, then a linear model on hover could be gainned. According to the results of helicopter stability and coupling, flight control strategy, control laws, control loops were studied.And realized Stability augmentation, posture, location control law and a variety of flight mode. Because of the posture control without achieving the desired accuracy in engineering applications, the conventional position control law can not meet the requirement. A improved strategy was proposed, it solved the problem satisfactorily.
Finally, According to the "equivalent flight control" idea, this paper completed the transplant of RTOS32 in the Windows environment, and ensured that the control law code in the target machine environment and the "equivalent flight control" environment was fully consistent.Designed of the "equivalent flight control" Control Desk and other related software. All the working above have been verified by the semi-physical simulation and the result showed that the design of "equivalent flight control" based on RTOS32 was conscientiously feasible in project. And the use of "equivalent flight control", the hovering mode, circling mode and flying forward mode was verified .
首先,建立了基于“圆盘理论”的无人直升机数学模型,建模时综合考虑了直升机各主要气动部件的建模,详细讨论了主旋翼的气动力模型、诱导速度模型和挥舞运动模型,整个仿真模型最终在S-Function平台上得到了实现。最后采用样例直升机数据,把“圆盘理论”模型和Flightlab模型进行对比,结果证明了“圆盘理论”建模方法的合理性和有效性。根据建模的目的和用途,把在Matlab环境下的数学模型转化为可用于“等效飞控”仿真或半物理实时仿真的C语言版本模型。
其次,介绍了无人直升机飞行控制律的设计工作,利用所建的非线性数学模型,经过配平线性化,得到悬停状态下的线性模型。根据直升机稳定性和耦合性的分析结果,对无人直升机的飞行控制策略、控制规律进行了研究,实现了无人直升机增稳、姿态、位置等飞行控制律。由于工程应用中,对姿态的控制达不到预期的精度,常规的位置控制律不能满足要求,因此提出了改进方案,圆满的解决了内回路控制不准的问题。
最后,根据“等效飞控”的思想,完成了RTOS32在Windows环境下的移植,实现了控制律代码在目标机环境和“等效飞控”环境下的完全一致。设计了“等效飞控”控制台软件等相关软件。并把“等效飞控”仿真和半物理实时仿真结果进行了对比,可以看出“等效飞控”设计环境可以应用于工程项目的开发,能够验证控制律的正确性。然后利用“等效飞控”环境,验证了悬停、回转、前飞、两点航线等飞行模态。
Unmanned Helicopter has good perspective of applications in military and civilian domain because of its unique flight property. And modeling and control techniques of unmanned helicopter are extremely complex also because of its own special structure, so the dissertation study modeling and control technology of helicopter under the station.
Firstly, a mathematical model for helicopter was developed based on mumentum theory. In the process of modeling, the primary aerodynamic components of helicopter were considered comprehensively. Main rotor is the key part of helicopter modeling, and the associated modeling methods of aerofoil aerodynamic loads, induced velocity and blade flap motion were discussed in detail. The whole model was performed in S-Function. Finally, the response analysis was carried out with the example helicopter’s data. The simulation results validate the rationality and validity of modeling theories and methods. According to the purpose and use of modeling, the model in the Matlab environment was converted into a mathematical model of the C language version which can be used for "equivalent flight control" or semi-physical simulation.
Secondly, trimmed and linearized the non-linear mathematical model, then a linear model on hover could be gainned. According to the results of helicopter stability and coupling, flight control strategy, control laws, control loops were studied.And realized Stability augmentation, posture, location control law and a variety of flight mode. Because of the posture control without achieving the desired accuracy in engineering applications, the conventional position control law can not meet the requirement. A improved strategy was proposed, it solved the problem satisfactorily.
Finally, According to the "equivalent flight control" idea, this paper completed the transplant of RTOS32 in the Windows environment, and ensured that the control law code in the target machine environment and the "equivalent flight control" environment was fully consistent.Designed of the "equivalent flight control" Control Desk and other related software. All the working above have been verified by the semi-physical simulation and the result showed that the design of "equivalent flight control" based on RTOS32 was conscientiously feasible in project. And the use of "equivalent flight control", the hovering mode, circling mode and flying forward mode was verified .
引文
[1]陈皓生,陈大融,微型直升机动力学建模的研究现状,飞行力学,2003,21(3):1~4
[2]王适存,直升机空气动力学,航空专业教材编审组,1985:9~30
[3]曾丽兰,王道波,无人驾驶直升机飞行控制技术综述,控制与决策,2006,21(4):361~366
[4]黄一敏,直升机飞行控制技术研究,[博士学位论文],南京,南京航空航天大学,1999
[5]王奕,基于ucos-ii的无人直升机飞行控制系统软件设计,[硕士学位论文],南京,南京航空航天大学,2008
[6]顾冬雷,夏先明,无人直升机飞控系统设计与应用,南京航空航天大学学报,2005,37(4):2~3
[7]高正,陈仁良,直升机飞行动力学,北京:科学出版社,2003:21~36
[8]陈仁良,直升机飞行动力学数学建模及机动性研究,[博士学位论文],南京,南京航空航天大学,1998
[9] Aponso, Johnoston, Magdaleno, Identification of Higher Order Helicopter Dynamics Using Linear Modelling Methods, Journal of the American Helicopter Society,1994,17:89~93
[10] R.W.普劳蒂,直升机性能及稳定性和操纵性(高正译),北京,航空工业出版社,1990:1~22
[11]郑涛,高正红,孔祥骏,无人机系统的仿真建模研究,飞行力学,2002,20(3):25~28
[12]戴文雯,新型无人直升机飞行控制技术研究,[硕士学位论文],南京,南京航空航天大学,2007
[13]丁锐,无人直升机飞控技术研究,[硕士学位论文],南京,南京航空航天大学,2007
[14]吴闽光,新型无人直升机飞行控制技术研究,[硕士学位论文],南京,南京航空航天大学,2006
[15]王琨玉,李中修,赵振德等,直升机飞行控制器及其使用,北京,海洋出版社,1986:1~343
[16]彭召勇,无人直升机飞行控制技术研究,[硕士学位论文],南京,南京航空航天大学,2001
[17]陶永华,新型PID控制及其应用,机械工业出版社,1998,15~32
[18]陈巍,无人直升机飞行控制系统设计与研究,[硕士学位论文],南京,南京航空航天大学,2004
[19]吴洲,F160无人直升机飞控系统设计与实现技术研究,[硕士学位论文],南京航空航天大学,2005
[20]唐永哲,直升机控制系统设计,北京,国防出版社,2000,38~40
[21]周涛,微小型无人直升机简化模型及控制系统研究,[硕士学位论文],浙江,浙江大学,2006
[22] Dudgeon G J W, Gribble J J , Helicopter attitude command hold using individual channel analysis and design, Journal of Guidance, Control and Dynamics, 1997, 20(5): 962~971
[23]蒋昊亮,无人机飞控系统的仿真研究,[硕士学位论文],南京,南京理工大学,2004
[24] Ferreres, Gilles, Flight control law design for a flexible aircraft: Limits of performance,Journal of Guidance, Control and Dynamics, 2006, 29(4): 870~878
[25]宗明山,蒋支运,吴文海,无人直升机飞行控制系统设计,飞机设计,2003:67~72
[26] Liu, Hugh H T , Mills, Multiple specification design in flight control system, Proceedings of the American Control Conference, 2000, 2:1365~1369
[27] Xinyan Deng, Luca Schenato, Shankar Sastry, Hovering Flight Control of a Micromechanical Flying Insect, Proceedings of the 40th IEEE Conference on Decision and Control , December 2001, 28(6):132～135
[28]牛新元,LE110无人直升机自主飞行控制研究,[硕士学位论文],南京,南京航空航天大学,2005
[29]王德宇,小型无人直升机飞行控制系统研究,[硕士学位论文],湖南,国防科学技术大学,2005
[30]陈巍,王道波,某型无人直升机飞控系统仿真研究,飞行力学,2004,22(1):41~44
[31] Hyunchi Shim,Hierarchical Flight Control System Synthesis for Rotorcraft-based Unmanned Aerial Vehicles,Seoul National University, Seoul, South Korea,1991
[32]刘磊,王新民,某型直升机半物理仿真系统的设计,航空电子技术,2006,37(1):2~4
[33] Isidori A, Marconi L, Serrani A, Robust nonlinear motion control of a helicopter,IEEE Transactions on Automatic Control, 2003, 48(3): 413~426
[34] Cao Yunfeng,Tao Yong,Guidance and control for automatic landing of UAV,Transaction of Nanjing University of Aeronautics & Astronautics,2001,18(2):229~235
[35] Sobel KM,Shapiro EY,Application of eigenstructure assignment to flight control design: Some Extensions,Journal of Guidance, Control and Dynamics,1987,10(1):73~81
[36]文传源,现代飞行控制系统,北京,北京航空航天大学出版社,1992:220~240
[37]郭锁凤,申功璋,吴成富等,先进飞行控制系统,北京,国防工业出版社,2003:1~98
[38]刘金琨,先进PID控制及其MATLAB仿真,北京,电子工业出版社,2003:15~54
[39] Dudgeon G J W, Gribble J J, Helicopter attitude command hold using individual channel analysis and design, Journal of Guidance, Control and Dynamics, 1997, 20(5): 962~971
[40] Xinyan Deng, Luca Schenato, Shankar Sastry, Hovering Flight Control of a MicromechanicalFlying Insect, Proceedings of the 40th IEEE Conference on Decision and Control,December 2001, 28(6):132~135
[41] Stevens BL,Lewis FL,Aircraft control and simulation,John Wiley & Sons, Inc,1992
[42]王永林,MatlabSimulink环境下无人机全过程飞行仿真技术研究,[硕士学位论文],南京,南京航空航天大学,2006
[43] Lisa McCormack, Daniel Gleason, Digital Simulation of Flight Control System For Post-Stall Aircraft, Journal of the American Helicopter Society, April 1995, 12(4):107~110
[2]王适存,直升机空气动力学,航空专业教材编审组,1985:9~30
[3]曾丽兰,王道波,无人驾驶直升机飞行控制技术综述,控制与决策,2006,21(4):361~366
[4]黄一敏,直升机飞行控制技术研究,[博士学位论文],南京,南京航空航天大学,1999
[5]王奕,基于ucos-ii的无人直升机飞行控制系统软件设计,[硕士学位论文],南京,南京航空航天大学,2008
[6]顾冬雷,夏先明,无人直升机飞控系统设计与应用,南京航空航天大学学报,2005,37(4):2~3
[7]高正,陈仁良,直升机飞行动力学,北京:科学出版社,2003:21~36
[8]陈仁良,直升机飞行动力学数学建模及机动性研究,[博士学位论文],南京,南京航空航天大学,1998
[9] Aponso, Johnoston, Magdaleno, Identification of Higher Order Helicopter Dynamics Using Linear Modelling Methods, Journal of the American Helicopter Society,1994,17:89~93
[10] R.W.普劳蒂,直升机性能及稳定性和操纵性(高正译),北京,航空工业出版社,1990:1~22
[11]郑涛,高正红,孔祥骏,无人机系统的仿真建模研究,飞行力学,2002,20(3):25~28
[12]戴文雯,新型无人直升机飞行控制技术研究,[硕士学位论文],南京,南京航空航天大学,2007
[13]丁锐,无人直升机飞控技术研究,[硕士学位论文],南京,南京航空航天大学,2007
[14]吴闽光,新型无人直升机飞行控制技术研究,[硕士学位论文],南京,南京航空航天大学,2006
[15]王琨玉,李中修,赵振德等,直升机飞行控制器及其使用,北京,海洋出版社,1986:1~343
[16]彭召勇,无人直升机飞行控制技术研究,[硕士学位论文],南京,南京航空航天大学,2001
[17]陶永华,新型PID控制及其应用,机械工业出版社,1998,15~32
[18]陈巍,无人直升机飞行控制系统设计与研究,[硕士学位论文],南京,南京航空航天大学,2004
[19]吴洲,F160无人直升机飞控系统设计与实现技术研究,[硕士学位论文],南京航空航天大学,2005
[20]唐永哲,直升机控制系统设计,北京,国防出版社,2000,38~40
[21]周涛,微小型无人直升机简化模型及控制系统研究,[硕士学位论文],浙江,浙江大学,2006
[22] Dudgeon G J W, Gribble J J , Helicopter attitude command hold using individual channel analysis and design, Journal of Guidance, Control and Dynamics, 1997, 20(5): 962~971
[23]蒋昊亮,无人机飞控系统的仿真研究,[硕士学位论文],南京,南京理工大学,2004
[24] Ferreres, Gilles, Flight control law design for a flexible aircraft: Limits of performance,Journal of Guidance, Control and Dynamics, 2006, 29(4): 870~878
[25]宗明山,蒋支运,吴文海,无人直升机飞行控制系统设计,飞机设计,2003:67~72
[26] Liu, Hugh H T , Mills, Multiple specification design in flight control system, Proceedings of the American Control Conference, 2000, 2:1365~1369
[27] Xinyan Deng, Luca Schenato, Shankar Sastry, Hovering Flight Control of a Micromechanical Flying Insect, Proceedings of the 40th IEEE Conference on Decision and Control , December 2001, 28(6):132～135
[28]牛新元,LE110无人直升机自主飞行控制研究,[硕士学位论文],南京,南京航空航天大学,2005
[29]王德宇,小型无人直升机飞行控制系统研究,[硕士学位论文],湖南,国防科学技术大学,2005
[30]陈巍,王道波,某型无人直升机飞控系统仿真研究,飞行力学,2004,22(1):41~44
[31] Hyunchi Shim,Hierarchical Flight Control System Synthesis for Rotorcraft-based Unmanned Aerial Vehicles,Seoul National University, Seoul, South Korea,1991
[32]刘磊,王新民,某型直升机半物理仿真系统的设计,航空电子技术,2006,37(1):2~4
[33] Isidori A, Marconi L, Serrani A, Robust nonlinear motion control of a helicopter,IEEE Transactions on Automatic Control, 2003, 48(3): 413~426
[34] Cao Yunfeng,Tao Yong,Guidance and control for automatic landing of UAV,Transaction of Nanjing University of Aeronautics & Astronautics,2001,18(2):229~235
[35] Sobel KM,Shapiro EY,Application of eigenstructure assignment to flight control design: Some Extensions,Journal of Guidance, Control and Dynamics,1987,10(1):73~81
[36]文传源,现代飞行控制系统,北京,北京航空航天大学出版社,1992:220~240
[37]郭锁凤,申功璋,吴成富等,先进飞行控制系统,北京,国防工业出版社,2003:1~98
[38]刘金琨,先进PID控制及其MATLAB仿真,北京,电子工业出版社,2003:15~54
[39] Dudgeon G J W, Gribble J J, Helicopter attitude command hold using individual channel analysis and design, Journal of Guidance, Control and Dynamics, 1997, 20(5): 962~971
[40] Xinyan Deng, Luca Schenato, Shankar Sastry, Hovering Flight Control of a MicromechanicalFlying Insect, Proceedings of the 40th IEEE Conference on Decision and Control,December 2001, 28(6):132~135
[41] Stevens BL,Lewis FL,Aircraft control and simulation,John Wiley & Sons, Inc,1992
[42]王永林,MatlabSimulink环境下无人机全过程飞行仿真技术研究,[硕士学位论文],南京,南京航空航天大学,2006
[43] Lisa McCormack, Daniel Gleason, Digital Simulation of Flight Control System For Post-Stall Aircraft, Journal of the American Helicopter Society, April 1995, 12(4):107~110