机械与电子2023，Vol.41Issue(12)：74-80,7.
无人直升机舰面起降鲁棒姿态控制器设计
Design of Robust Attitude Controller for Unmanned Helicopter Carrier Take-off and Landing
姚志豪 1祖家奎 1叶晓宇 1刘世龙1
作者信息
- 1. 南京航空航天大学自动化学院,江苏南京 211106
- 折叠
摘要
Abstract
The attitude controller of unmanned helicopter in ship-based take-off and landing mission is studied.Firstly,the mathematical model of ship wake interference unique to ship-based unmanned heli-copter in the process of take-off and landing mission is established,and the integrated model of unmanned helicopter and ship wake is established.The influence of ship wake on the attitude of unmanned helicopter is analyzed.The robust attitude controller of unmanned helicopter is designed based on the improved linear active disturbance rejection control theory,which realizes the fast tracking of attitude angle and the sup-pression and compensation of ship wake disturbance.Finally,the control results of the robust attitude con-troller and the conventional PID controller under disturbance are compared and analyzed.The comparison results show that the designed attitude controller has better robustness and can meet the technical require-ments of the shipboard unmanned helicopter in the special working environment of take-off and landing.关键词
舰载无人直升机/舰尾流/线性自抗扰/姿态控制器Key words
shipborne unmanned helicopter/ship wake/LADRC/attitude controller引用本文复制引用
姚志豪,祖家奎,叶晓宇,刘世龙..无人直升机舰面起降鲁棒姿态控制器设计[J].机械与电子,2023,41(12):74-80,7.
