| Citation: | YIN Xinfan, NIE Bowen, AN Honglei, et al. High-order sliding mode differentiator-based active disturbance rejection attitude control of compound high-speed helicopter[J]. Journal of Aerospace Power, 2025, 40（9）：20240461 doi: 10.13224/j.cnki.jasp.20240461
|
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.
| [1] |
黄明其, 徐栋霞, 何龙, 等. 常规旋翼构型复合式高速直升机发展概况及关键技术[J]. 航空动力学报, 2021, 36(6): 1156-1168. HUANG Mingqi, XU Dongxia, HE Long, et al. Development overview and key technologies of high speed hybrid helicopter with single main rotor[J]. Journal of Aerospace Power, 2021, 36(6): 1156-1168. (in Chinese
HUANG Mingqi, XU Dongxia, HE Long, et al. Development overview and key technologies of high speed hybrid helicopter with single main rotor[J]. Journal of Aerospace Power, 2021, 36(6): 1156-1168. (in Chinese)
|
| [2] |
尹欣繁, 车兵辉, 章贵川, 等. 国外复合式高速直升机发展现状与关键技术[J]. 飞航导弹, 2019(11): 56-60. YIN Xinfan, CHE Binghui, ZHANG Guichuan, et al. Development status and key technologies of compound high-speed helicopters abroad[J]. Aerodynamic Missile Journal, 2019(11): 56-60. (in Chinese
YIN Xinfan, CHE Binghui, ZHANG Guichuan, et al. Development status and key technologies of compound high-speed helicopters abroad[J]. Aerodynamic Missile Journal, 2019(11): 56-60. (in Chinese)
|
| [3] |
吴希明. 高速直升机发展现状、趋势与对策[J]. 南京航空航天大学学报, 2015, 47(2): 173-179. WU Ximing. Current status, development trend and countermeasure for high-speed rotorcraft[J]. Journal of Nanjing University of Aeronautics and Astronautics, 2015, 47(2): 173-179. (in Chinese
WU Ximing. Current status, development trend and countermeasure for high-speed rotorcraft[J]. Journal of Nanjing University of Aeronautics and Astronautics, 2015, 47(2): 173-179. (in Chinese)
|
| [4] |
林李李, 李建波, 刘晓昕, 等. 复合推力构型直升机飞行性能及参数敏感性研究[J]. 航空计算技术, 2019, 49(5): 90-95. LIN Lili, LI Jianbo, LIU Xiaoxin, et al. Research on flight performance and sensitivity to parameter for rotor- wing compound helicopter[J]. Aeronautical Computing Technique, 2019, 49(5): 90-95. (in Chinese
LIN Lili, LI Jianbo, LIU Xiaoxin, et al. Research on flight performance and sensitivity to parameter for rotor- wing compound helicopter[J]. Aeronautical Computing Technique, 2019, 49(5): 90-95. (in Chinese)
|
| [5] |
LIU Xiaoxin, LIN Lili, PENG Minghua, et al. The optimization design of lift distribution and propeller performance for rotor/wing compound helicopter[R]. Chengdu: 2018 Asia-Pacific International Symposium on Aerospace Technology (APISAT 2018), 2018.
|
| [6] |
FREY F, THIEMEIER J, ÖHRLE C, et al. Aerodynamic interactions on Airbus Helicopters’ compound helicopter RACER in hover[R]. Philadelphia, PA, US: Annual Vertical Flight Society Forum and Technology Display, 2020.
|
| [7] |
GERMANY D B, WENTRUP M, HELICOPTERS A, et al. An overview of DLR compound rotorcraft aerodynamics and aeroacoustics activities within the CleanSky2 NACOR project[R].Phoenix, Arizona, US: the Vertical Flight Society 74th Annual Forum, 2018.
|
| [8] |
BLACHA M, FIN A, EGLIN P. “Clean Sky 2”: exploring new rotorcraft high speed configurations [R]. Milan, Itally: the 43rd European Rotorcraft Forum, 2018.
|
| [9] |
高子义. 复合式高速直升机飞行动力学建模与控制策略研究[D]. 南京: 南京航空航天大学, 2021. GAO Ziyi. Research on flight dynamics model and control strategy of compound high-speed helicopter [D]. Nanjing: Nanjing University of Aeronautics and Astronautics, 2021. (in Chinese
GAO Ziyi. Research on flight dynamics model and control strategy of compound high-speed helicopter [D]. Nanjing: Nanjing University of Aeronautics and Astronautics, 2021. (in Chinese)
|
| [10] |
ESCOBAR D, YEO H. Performance and loads of a wing-offset compound helicopter[J]. Journal of the American Helicopter Society, 2023, 68(3): 32002-32014. doi: 10.4050/JAHS.68.032002
|
| [11] |
SALAH I, HELICOPTERS A, et al. Racer high-speed demonstrator: tail unit vertical fin aerodynamic design[R]. Phoenix, Arizona, US: the Vertical Flight Society 74th Annual Forum, 2018.
|
| [12] |
BOISARD R. Numerical analysis of rotor/propeller aerodynamic interactions on a high-speed compound helicopter[J]. Journal of the American Helicopter Society, 2022, 67(1): 12005.
|
| [13] |
FERGUSON K M. Towards a better understanding of the flight mechanics of compound helicopter configurations[D]. Glasgow, US: University of Glasgow, 2015.
|
| [14] |
WU M, CHEN Ming. Nonlinear modeling and flight validation of a small-scale compound helicopter[J]. Applied Sciences, 2019, 9(6): 1087. doi: 10.3390/app9061087
|
| [15] |
王涌钦, 余新, 陈仁良, 等. 双螺旋桨推进复合式直升机操纵分配与最优过渡路线设计[J]. 南京航空航天大学学报, 2022, 54(2): 211-218. WANG Yongqin, YU Xin, CHEN Renliang, et al. Redundant control and optimal transition route design of compound helicopter[J]. Journal of Nanjing University of Aeronautics and Astronautics, 2022, 54(2): 211-218. (in Chinese
WANG Yongqin, YU Xin, CHEN Renliang, et al. Redundant control and optimal transition route design of compound helicopter[J]. Journal of Nanjing University of Aeronautics and Astronautics, 2022, 54(2): 211-218. (in Chinese)
|
| [16] |
曹燕. 复合式高速直升机飞行动力学建模与控制技术研究[D]. 南京: 南京航空航天大学, 2018. CAO Yan. Research on flight dynamics modeling and control technology of compound high-speed helicopter[D]. Nanjing: Nanjing University of Aeronautics and Astronautics, 2018. (in Chinese
CAO Yan. Research on flight dynamics modeling and control technology of compound high-speed helicopter[D]. Nanjing: Nanjing University of Aeronautics and Astronautics, 2018. (in Chinese)
|
| [17] |
邓柏海, 徐锦法. 复合式无人直升机姿态自抗扰控制[J]. 北京航空航天大学学报, 2023, 49(11): 3100-3107. DENG Bohai, XU Jinfa. Active disturbance rejection control of attitude of compound unmanned helicopter[J]. Journal of Beijing University of Aeronautics and Astronautics, 2023, 49(11): 3100-3107. (in Chinese
DENG Bohai, XU Jinfa. Active disturbance rejection control of attitude of compound unmanned helicopter[J]. Journal of Beijing University of Aeronautics and Astronautics, 2023, 49(11): 3100-3107. (in Chinese)
|
| [18] |
SHEN Suiyuan, XU Jinfa, CHEN Pei, et al. Adaptive neural network extended state observer-based finite-time convergent sliding mode control for a quad tiltrotor UAV[J]. IEEE Transactions on Aerospace and Electronic Systems, 2023, 59(5): 6360-6373.
|
| [19] |
SHEN Suiyuan, XU Jinfa. Attitude active disturbance rejection control of the quadrotor and its parameter tuning[J]. International Journal of Aerospace Engineering, 2020, 2020: 8876177.
|
| [20] |
SHEN Suiyuan, XU Jinfa, CHEN Pei, et al. An intelligence attitude controller based on active disturbance rejection control technology for an unmanned helicopter[J]. IEEE Transactions on Vehicular Technology, 2023, 72(3): 2936-2946. doi: 10.1109/TVT.2022.3217300
|
| [21] |
聂博文, 杨仕鹏, 魏一博, 等. 复合式高速直升机螺旋桨变距性能评估与测试[J]. 飞行力学, 2023, 41(2): 34-40. NIE Bowen, YANG Shipeng, WEI Yibo, et al. Pitching evaluation and test of the propellers for a compound high-speed helicopter[J]. Flight Dynamics, 2023, 41(2): 34-40. (in Chinese
NIE Bowen, YANG Shipeng, WEI Yibo, et al. Pitching evaluation and test of the propellers for a compound high-speed helicopter[J]. Flight Dynamics, 2023, 41(2): 34-40. (in Chinese)
|
| [22] |
YIN Xinfan, MA Hongxu, ZHANG Weiguo, et al. Analysis of the controllability and stability of a hybrid high-speed compound helicopter with a new configuration[J]. International Journal of Aeronautical and Space Sciences, 2024, 25(4): 1205-1218. doi: 10.1007/s42405-024-00733-5
|
| [23] |
METTLER B. Identification Modeling and Characteristics of Miniature Rotorcraft[M]. Boston, US: Springer, 2003.
|
| [24] |
LEVANT A. Higher-order sliding modes, differentiation and output-feedback control[J]. International Journal of Control, 2003, 76(9/10): 924-941.
|
| [25] |
聂博文, 王亮权, 黄志银, 等. 复合式高速无人直升机飞行动力学建模与控制策略设计[J]. 航空学报, 2024, 45(9): 529848. NIE Bowen, WANG Liangquan, HUANG Zhiyin, et al. Flight dynamics modeling and control scheme design of compound high-speed unmanned helicopters[J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(9): 529848. (in Chinese
NIE Bowen, WANG Liangquan, HUANG Zhiyin, et al. Flight dynamics modeling and control scheme design of compound high-speed unmanned helicopters[J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(9): 529848. (in Chinese)
|
| [26] |
LIANG Shuai, XU Bin, REN Jinrui. Kalman-filter-based robust control for hypersonic flight vehicle with measurement noises[J]. Aerospace Science and Technology, 2021, 112: 106566. doi: 10.1016/j.ast.2021.106566
|
DownLoad:
