小型无人直升机建模与鲁棒飞行控制研究

以某小型无人直升机为对象，采用分体法分析了机体各部分受力情况。根据力与力矩的平衡关系，获得了无人直升机完整的非线性飞行动力学数学模型。基于所建模型，进行了所有飞行状态下无人直升机的配平计算。根据配平结果，获得了悬停时的线性状态空间模型，在考虑风扰动前提下，采用H∞静态输出反馈控制方法对无人直升机内外回路控制器进行了设计。仿真结果表明，所建模型的配平结果与实际直升机特性基本相符，验证了模型的有效性；H∞综合控制方法较好地实现了对扰动下无人直升机状态的控制，表明该算法具有良好的鲁棒性、解耦性及跟踪特性。

Small Unmanned Helicopter Modeling and Robust Control Research

Taking a small unmanned helicopter as an object, each parts of the body stress distribution are analyzed by adopting the fission method. According to the force and moment balance equations, obtained the unmanned helicopter complete mathematical model of nonlinear flight dynamics. Based on the model, complete all the balancing calculation of unmanned helicopter flight condition. According to the result of balancing, and got a linear state space model at hovering flight state. In joining the wind disturbance situation, H∞ static output feedback control method is used for unmanned helicopter inner and outer loop controller design. The simulation results show that the established model has higher accuracy, consistent with the basic characteristics of real helicopter, verify the effectiveness of the proposed modeling method, H∞ synthesis better control the unmanned helicopter motion state, simulation results show that the control algorithm has good robustness, decoupling and tracking characteristics.