一种共轴双旋翼飞行器悬停控制联合仿真

doi:10.3969/j.issn.1000-1093.2019.02.010

兵工学报 ›› 2019, Vol. 40 ›› Issue (2): 303-313.doi: 10.3969/j.issn.1000-1093.2019.02.010

一种共轴双旋翼飞行器悬停控制联合仿真

陈汉¹，李科伟¹，邓宏彬¹，危怡然¹，赵瑾²

(1.北京理工大学机电学院, 北京 100081; 2.中国兵器工业集团有限公司第203研究所, 陕西西安 710065)

收稿日期:2018-05-28 修回日期:2018-05-28 上线日期:2019-04-08
通讯作者: 邓宏彬（1975—），男，副教授，博士 E-mail:denghongbin@bit.edu.cn
作者简介:陈汉（1994—），男，硕士研究生。E-mail:13718362737@163.com
基金资助:
国家自然科学基金项目（5177041109）

Hover Control Co-simulation of a Coaxial Dual-rotor Aircraft

CHEN Han¹， LI Kewei¹， DENG Hongbin¹， WEI Yiran¹， ZHAO Jin²

(1.School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081， China;2.The 203rd Research Institute, China North Industries Group Corporation Limited, Xi'an 710065, Shaanxi, China)

Received:2018-05-28 Revised:2018-05-28 Online:2019-04-08

摘要/Abstract

摘要： 利用Adams/MATLAB联合仿真平台，对一种具有周向均匀分布3个舵机的操纵机构共轴双旋翼飞行器悬停控制问题进行了研究。考虑到目前对上旋翼和下旋翼之间气动干扰没有准确的数学模型，在动力学建模时利用叶素理论和Pitt-Peters动态入流模型对飞行器的气动干扰和挥舞运动进行近似建模，其他未准确建模的部分用控制算法进行补偿。选用鲁棒性较强的滑动模态控制算法并与PID算法相结合对飞行器姿态进行控制，同时利用PID算法建立姿态和位置的关系，使其具备按照空间坐标点悬停的能力。将装配模型导入Adams中建立动力学模型，在Simulink搭建控制器并进行联合仿真。研究结果验证了所设计控制方法的有效性，飞行器悬停位置的最大动态误差小于±0.2 m.

关键词: 共轴双旋翼飞行器, 控制算法, 悬停控制, 联合仿真

Abstract: The Adams/MATLAB co-simulation platform is used to study the hover control of a coaxial dual-rotor aircraft with a steering mechanism around which three steering gears are uniformly distributed. Since there is currently no accurate mathematical model for the aerodynamic interference between the upper and lower rotors, the aerodynamic interference and flapping motion of aircraft are approximately modeled using the blade element theory and the Pitt-Peters dynamic inflow model. The inaccurately modeled part is compensated using a control algorithm. The robust tactical sliding mode control algorithm and proportion integration differentiation (PID) algorithm are used to control the aircraft attitude. And the PID algorithm is used to establish the relationship between aircraft attitude and position so that the aircraft has the ability to hover according to the spatial coordinate point. The assembly model is imported into Adams to establish a dynamic model, and a controller is built in Simulink for co-simulation. The research result shows that the proposed control method is effective, and the maximum dynamic error of hovering position of aircraft is less than ±0.2 m. Key

Key words: coaxialdual-rotoraircraft, controlalgorithm, hovercontrol, co-simulation

中图分类号:

V279⁺.2

陈汉，李科伟，邓宏彬，危怡然，赵瑾. 一种共轴双旋翼飞行器悬停控制联合仿真[J]. 兵工学报, 2019, 40(2): 303-313.

CHEN Han， LI Kewei， DENG Hongbin， WEI Yiran， ZHAO Jin. Hover Control Co-simulation of a Coaxial Dual-rotor Aircraft[J]. Acta Armamentarii, 2019, 40(2): 303-313.

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一种共轴双旋翼飞行器悬停控制联合仿真

Hover Control Co-simulation of a Coaxial Dual-rotor Aircraft

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