Three-degree-of-freedom helicopter anti-saturation attitude tracking control method

A tracking control and control method technology, applied in attitude control and other directions, can solve problems such as actuator saturation and system instability

Active Publication Date: 2016-06-15
BEIHANG UNIV
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Problems solved by technology

However, in the process of 3-DOF attitude tracking, when the 3-DOF model itself has uncertainty, or is disturbed by external disturbances during flight, the system wil...

Method used

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Embodiment Construction

[0086] Below each part design method in the present invention is further described:

[0087] "An anti-saturation attitude tracking control method for a three-degree-of-freedom helicopter" of the present invention, see figure 1 , figure 2 As shown, the specific steps are as follows:

[0088] Step 1: Given expected tracking value

[0089] 1) if figure 2 As shown, the mass block in the 3-DOF helicopter experimental model is taken as the origin, and the 3-DOF helicopter body coordinate system is established with the three axes of pitch, yaw, and roll as the coordinate axes;

[0090] 2) The given desired attitude angle is x d =[ρ d ε d ] T , which can be a function of time x d (t), can also be a fixed value x d (c).

[0091] Step 2: Calculate the attitude angle tracking error z 1

[0092] When the desired attitude angle is a function of time x d (t), the attitude angle tracking error z 1 for

[0093] z 1 =x-x d (t)

[0094] When the desired attitude angle is a fi...

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Abstract

A three-degree-of-freedom helicopter anti-saturation attitude tracking control method includes the steps of: 1. giving an expected tracking value: an expected attitude angle x<d>=[rho<d>epsilon<d>]<T>; 2. performing attitude angle tracking error calculation: an error between the expected attitude angle and an actual attitude angle z<1>=x-x<d>; 3. performing virtual control law design: designing v<d> and solving a derivative of v<d> to time as a state quantity in a neural network; 4. performing neural network design: the formula is as described in the specification, approaching an uncertain term in a 3-DOF helicopter dynamics equation; 5. performing auxiliary control system design: designing a state quantity u, and solving the problem of input saturation; 6. performing model control law design: utilizing the state quantity u of the auxiliary control system to correct an attitude angle speed tracking error term, and combined with the neural network, estimating the uncertain term, thereby finally obtaining a model control law; and 7. applying the model control law to a 3-DOF helicopter nonlinear model to perform attitude angle tracking simulation. The method can approach the model uncertain term, inhibit external disturbance influence, resist execution mechanism saturation and track any expected attitude, thereby guaranteeing asymptotic stability of a system, and simplifying a calculation process.

Description

technical field [0001] The invention provides a three-degree-of-freedom (3-DOF) helicopter anti-saturation attitude tracking control method, which provides a new control method for a three-degree-of-freedom helicopter that suppresses the influence of external disturbances and resists the input saturation of the actuator to track the desired attitude. Automatic control technology field. Background technique [0002] Helicopter is a kind of aeronautical vehicle that uses the rotor driven by the power plant as the main source of lift and power, and can take off and land vertically and maneuver around, left and right. It is widely used in both military and civilian applications. The 3-DOF helicopter is a common underactuated, high-order, multiple-input multiple-output (MIMO) nonlinear system, and has strong channel coupling characteristics, which can realize a more realistic, comprehensive and objective control system for the actual helicopter flight control system. The simulat...

Claims

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Application Information

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IPC IPC(8): G05D1/08
CPCG05D1/08
Inventor 郑泽伟郭宇航祝明金正浩
Owner BEIHANG UNIV
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