Active disturbance rejection control method for 3-DOF (Degree Of Freedom) helicopter attitude
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A technology of ADRC and helicopter, applied in the field of aircraft control
Inactive Publication Date: 2016-10-12
TIANJIN UNIVERSITY OF TECHNOLOGY
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Problems solved by technology
[0004] The technical problem to be solved in the present invention is the attitude stability tracking control problem of the existing three-degree-of-freedom tandem dua
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Embodiment 1
[0133] To stabilize the system, select the initial attitude angle of the three-degree-of-freedom helicopter [ε 0 ρ 0 lambda 0 ] T =[20°100° -10°] T , the ideal value of the attitude angle is set to the amplitude of 0°, and the simulation experiment time is 60s.
[0134] The attitude tracking result of the final system and the output of the tracking differentiator are as follows: Figure 5 to Figure 7 shown.
[0135] Figure 5 to Figure 7 It shows that the tilt angle, pitch angle and travel angle can track the given attitude signal quickly and accurately, and the extended state observer can effectively observe the attitude angle. In the process of attitude tracking, the system can take into account both steady-state performance and dynamic performance.
Embodiment 2
[0137] To test the step response of the system, select the initial attitude angle of the three-degree-of-freedom helicopter [ε 0 ρ 0 lambda 0 ] T =[0° 0°0°] T ,
[0138] The ideal value of the attitude angle is set to the amplitude of 30°, and the simulation experiment time is 60s.
[0139] The attitude tracking result of the final system and the output of the tracking differentiator are as follows: Figure 8 to Figure 10 shown.
[0140] Figure 8 to Figure 10 It shows that the tilt angle, pitch angle and travel angle can track the given attitude signal quickly and accurately, and the extended state observer can effectively observe the attitude angle. In the process of attitude tracking, the system can take into account both steady-state performance and dynamic performance.
Embodiment 3
[0142] To test the square wave response of the system, select the initial attitude angle of the three-degree-of-freedom helicopter [ε 0 ρ 0 lambda 0 ] T =[0° 90°-10°] T ,
[0143] Set the square wave input amplitude of the tilt angle channel to 90° and the frequency to 0.04Hz; the square wave input amplitude of the travel angle channel to 30° and the frequency to 0.04Hz, and the simulation experiment time is 60s.
[0144] The attitude tracking result of the final system and the output of the tracking differentiator are as follows: Figure 11 to Figure 13 shown.
[0145] Figure 11 to Figure 13 It shows that the tilt angle, pitch angle and travel angle can track the given attitude signal quickly and accurately, and the extended state observer can effectively observe the attitude angle. In the process of attitude tracking, the system can take into account both steady-state performance and dynamic performance.
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Abstract
The invention discloses an active disturbance rejection control method for 3-DOF (Degree Of Freedom) helicopter attitudes. The active disturbance rejection control method comprises the steps of: establishing a mathematical model for a 3-DOF helicopter with helicopter body rigidity, designing a controller by utilizing an active disturbance rejection control technology, making differences between output of a target value after a transition process is arranged and output of an extended state observer (ESO) as well as between a differential of the output of the target value and the output of the ESO, and carrying out non-linear transformation on the two difference values to obtain a non-linear feedback control law; and further making a difference between the obtained feedback control law and feedback of the ESO, and regarding the obtained output as input of a corresponding channel of the ESO and a 3-DOF helicopter system, so as to form a closed-loop active disturbance rejection controller. The active disturbance rejection control method tests and verifies observation ability of the high-order ESO, is high in anti-interference capability, effectively solves the problems such as difficult modeling of the 3-DOF helicopter and environmental diversity during the flight process, achieves stable tracking control of attitudes, and solves the stable tracking control problem of the existing 3-DOF tandem twin-rotor helicopter.
Description
technical field [0001] The invention relates to the technical field of aircraft control, in particular to an active disturbance rejection control method for a three-degree-of-freedom helicopter attitude. Background technique [0002] The prominent feature of the helicopter is that it can do low-altitude (a few meters from the ground), low-speed (starting from hovering) and maneuvering flight with the same nose direction, especially vertical take-off and landing in a small area. Because of these characteristics, it has broad application and development prospects. In terms of military use, it has been widely used in ground attack, airborne landing, weapon delivery, logistics support, battlefield rescue, reconnaissance and patrol, command and control, communication, anti-submarine mine clearance, electronic countermeasures, etc. In civil use, it is used in short-distance transportation, medical rescue, disaster relief, emergency rescue, hoisting equipment, geological explorati...
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