基于高阶滑模微分器的复合式高速直升机姿态自抗扰控制

尹欣繁; 聂博文; 安宏雷; 贾圣德; 马宏绪

doi:10.13224/j.cnki.jasp.20240461

基于高阶滑模微分器的复合式高速直升机姿态自抗扰控制

doi: 10.13224/j.cnki.jasp.20240461

尹欣繁^{1, 2,},
聂博文²,
安宏雷¹,
贾圣德¹,
马宏绪^1,*, ,

1.
国防科技大学智能科学学院，长沙 410073
2.
中国空气动力研究与发展中心低速空气动力学研究所，四川绵阳 621000

基金项目: 国防科技大学研究生创新项目（XJQY2024025）

详细信息

作者简介:
尹欣繁（1994-），男，博士生，主要从事直升机飞行动力学与控制方面的研究。E-mail：yxf_wind@163.com

通讯作者:
马宏绪（1966-），男，教授、博士生导师，博士，主要从事非线性控制方面的研究。E-mail：mhx1966@163.com

中图分类号: V249.122⁺.2
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出版历程
- 收稿日期: 2024-07-08
- 网络出版日期: 2024-12-09

High-order sliding mode differentiator-based active disturbance rejection attitude control of compound high-speed helicopter

YIN Xinfan^{1, 2
,},
NIE Bowen²,
AN Honglei¹,
JIA Shengde¹,
MA Hongxu^{1,*
, ,}

1.
College of Intelligence Science and Technology，National University of Defense Technology，Changsha 410073，China
2.
Low Speed Aerodynamics Institute，China Aerodynamics Research and Development Center，Mianyang Sichuan 621000，China

摘要

摘要:
分析了一种复合式高速直升机的飞行原理，设计了不同飞行模式下的操纵策略，并建立了飞行动力学模型。考虑传感器噪声和复杂飞行环境导致的系统状态难以准确测量的问题，提出了一种基于高阶滑模微分器的姿态自抗扰控制算法。在MATLAB/Simulink环境下构建了复合式高速直升机姿态控制系统，并与PID（proportion integral differential）控制器和LQG（linear quadratic Gaussian）控制器进行了仿真对比。研究结果表明：所提出的基于高阶滑模微分器的姿态自抗扰控制器能够实现对姿态角的无超调跟踪，相较于PID控制器和LQG控制器，误差收敛速度分别提升31.5%和64.2%，且在噪声干扰下，最大跟踪误差比LQG控制器小34.2%，比PID控制器小39.5%。
- 高阶滑模微分器 /
- 复合式直升机 /
- 高速直升机 /
- 自抗扰控制 /
- 姿态控制
Abstract:
The flight principle of the compound high-speed helicopter was analyzed, the control strategies for different flight modes were designed, and the flight dynamics model was constructed. An attitude active disturbance rejection control algorithm based on high-order sliding mode differentiator was proposed to address the problem in accurately measuring system states caused by sensor noises and complex flight environment. Then an attitude tracking control system for the compound high-speed helicopter was constructed in MATLAB/Simulink, and simulation comparison was conducted with PID (proportion integral differential) controller and LQG (linear quadratic Gaussian) controller. The research results indicated that the proposed controller can quickly and stably track the target attitude angle without overshooting. Compared with PID controller and LQG controller, the error convergence speed increased by 31.5% and 64.2%, respectively. Moreover, under noise disturbance, the maximum tracking error was 34.2% smaller than LQG controller and 39.5% smaller than PID controller.
- high-order sliding mode differentiator /
- compound helicopter /
- high-speed helicopter /
- active disturbance rejection control /
- attitude control

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图 1 复合式高速直升机气动布局

Figure 1. Aerodynamic configuration of the compound high-speed helicopter

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图 2 传统ADRC控制结构

Figure 2. Structural block diagram of classical ADRC

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图 3 本文改进的HOSMD-ADRC控制结构

Figure 3. Structural block diagram of the novel HOSMD-ADRC

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图 4 带噪声的输入信号

Figure 4. Input signal with noises

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图 5 3种微分器对原始信号的跟踪效果

Figure 5. Tracking performance of the three differentiators

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图 6 3种微分器输出的微分信号

Figure 6. Output differential signals of the three differentiators

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图 7 复合式高速直升机姿态控制回路

Figure 7. Attitude control loop of compound high-speed helicopter

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图 8 PID、LQG和HOSMD-ADRC控制器作用下的姿态角跟踪结果

Figure 8. Attitude angles tracking results under PID, LQG and HOSMD-ADRC controllers

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图 9 PID、LQG和HOSMD-ADRC控制器作用下的姿态角抗扰控制结果

Figure 9. Attitude angles disturbance rejection results under PID, LQG and HOSMD-ADRC controllers

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表 1 复合式高速直升机总体参数

Table 1. Overall parameters of the compound high-speed helicopter

参数	数值
起飞质量/kg	300
旋翼桨叶片数	2
旋翼半径/m	2.0
螺旋桨桨叶片数	3
螺旋桨半径/m	0.4
机体尺寸/m	3.4×2.3×1.5

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表 2 复合式高速直升机不同飞行模式下的操纵策略

Table 2. Control strategies for different flight modes of the compound high-speed helicopter

通道	低速悬停模式	过渡前飞模式	高速前飞模式
俯仰通道	纵向周期变距	纵向周期变距	纵向周期变距
滚转通道	横向周期变距	横向周期变距	横向周期变距
偏航通道	螺旋桨差动桨距	螺旋桨差动桨距+方向舵	方向舵
垂向通道	旋翼总距	旋翼总距+纵向周期变距	旋翼总距+纵向周期变距
反扭矩平衡	螺旋桨差动桨距	螺旋桨差动桨距+垂尾安定力矩	垂尾安定力矩

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表 3 HOSMD-ADRC控制器参数

Table 3. Parameters of HOSMD-ADRC controller

通道	HOSMD	ESO	NLSEF
通道	$\left[ {{\lambda _0},{\lambda _1},{\lambda _2},{\lambda _3}} \right]$	$\left[ {{\beta _1},{\beta _2},{\beta _3}} \right],\xi ,{b_0}$	$\left[ {{k_1},{k_2}} \right]$
俯仰通道	[3.5, 5.2, 7.6, 9.1]	[30, 300, 1000], 0.004, 1.2	[300, 200]
滚转通道	[3.2, 5.6, 7.4, 9.5]	[30, 300, 1000], 0.004, 0.9	[285, 170]
偏航通道	[2.3, 4.7, 6.5, 8.7]	[30, 300, 1000], 0.006, 0.6	[230, 150]

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表 4 PID控制器参数

Table 4. Parameters of PID controller

通道	${k_{\mathrm{p}}}$	${k_{\mathrm{i}}}$	${k_{\mathrm{d}}}$
俯仰通道	0.45	0.04	0.02
滚转通道	0.51	0.52	0.09
偏航通道	0.24	0.09	0.20

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