无人直升机LPV控制律设计

针对无人直升机航迹控制要求，提出一种基于线性变参数(LPV)控制理论的无人直升机一体化式飞行控制律设计方法，通过速度、侧滑角、高度和偏航角控制通道的显模型跟踪控制，实现无人直升机航迹控制。建立了无人直升机高阶非线性动力学模型，模型中考虑了旋翼桨叶挥舞和摆振运动、旋翼动态入流、机体运动之间的运动耦合，用于检验直升机高阶运动特性对控制律性能和闭环系统稳定性的影响。由于无人直升机的非线性动力学模型是典型的周期性系统，基于简谐平衡方法进行无人直升机的配平和模型线性化计算，在速度包线内得到用于控制律设计的无人直升机LPV模型，通过凸函数优化方法求解LPV控制律的参数。基于典型直升机机动，采用数值仿真方法对LPV控制律在传感器噪声影响下的控制性能进行检验，仿真结果表明：LPV控制律在速度包线内具有良好的控制性能和鲁棒性，无人直升机闭环系统在机动飞行中满足给定的性能要求。

Design of LPV control law for unmanned helicopter

An LPV control scheme is proposed to design integrated flight control laws for unmanned helicopters. The LPV control law achieves explicit model following performance for an unmanned helicopter in velocity, sideslip angle, altitude, and yaw angle control channels, leading to desired flight path control performance. A nonlinear mathematical model is developed for an unmanned helicopter to take into consideration the coupling among rotor blade flapping and lead-lag dynamics, rotor inflow dynamics, and fuselage dynamics. Since helicopter dynamics is periodic, harmonic balance method is employed to conduct trim and model linearization, leading to an LPV model used to perform LPV control design in a velocity envelope. Parameters of the LPV control law are determined by solving a convex optimization problem. Numerical simulations are conducted to examine the performance of the LPV control law based on typical helicopter maneuvers under sensor noise. Results show that the proposed law has good performance and robustness in helicopter velocity envelope, satisfying performance standards of each maneuver of an unmanned helicopter.