南京航空航天大学学报（英文版）2024，Vol.41Issue(6)：739-749,11.DOI:10.16356/j.1005-1120.2024.06.006
基于隐模型和LADRC的直升机机动轨迹跟踪控制
Helicopter Maneuver Trajectory Tracking Control Based on Implicit Model and LADRC
摘要
Abstract
To enhance the stability of helicopter maneuvers during task execution,a composite trajectory tracking controller design based on the implicit model(IM)and linear active disturbance rejection control(LADRC)is proposed.Initially,aerodynamic models of the main and tail rotor are created using the blade element theory and the uniform inflow assumption.Subsequently,a comprehensive flight dynamic model of the helicopter is established through fitting aerodynamic force fitting.Subsequently,for precise helicopter maneuvering,including the spiral,spiral up,and Ranversman maneuver,a regular trim is undertaken,followed by minor perturbation linearization at the trim point.Utilizing the linearized model,controllers are created for the IM attitude inner loop and LADRC position outer loop of the helicopter.Ultimately,a comparison is made between the maneuver trajectory tracking results of the IM-LADRC and the conventional proportional-integral-derivative(PID)control method is performed.Experimental results demonstrate that utilizing the post-trim minor perturbation linearized model in combination with the IM-LADRC method can achieve higher precision in tracking results,thus enhancing the accuracy of helicopter maneuver execution.关键词
直升机/轨迹跟踪/隐模型/PID/线性自抗扰/小扰动线化/盘旋上升/莱维斯曼Key words
helicopter/trajectory tracking/implicit model(IM)/proportional-integral-derivative(PID)/linear active disturbance rejection control/small disturbance linearization/spiral up/Ranversman maneuver分类
航空航天引用本文复制引用
任斌武,崔壮壮,徐尤松,杜思亮,招启军..基于隐模型和LADRC的直升机机动轨迹跟踪控制[J].南京航空航天大学学报（英文版）,2024,41(6):739-749,11.基金项目
This work was supported in part by the National Natural Science Foundation of China(No.12032012) （No.12032012）
the Key Discipline Construction Project of Colleges and Universities in Jiangsu Province. （）
