An explicit model tracking flight control method and system based on extended state observer

Abstract

The present invention relates to the field of helicopter control technology, and discloses an explicit model tracking flight control method and system based on an extended state observer. The control method includes establishing a six-degree-of-freedom dynamic equation for the helicopter, constructing an explicit model of the helicopter pitch channel, constructing a theoretical model of the helicopter pitch channel and an inverse model of the helicopter pitch channel, obtaining a differential form of the helicopter pitch channel theoretical model based on the helicopter pitch channel theoretical model, obtaining an extended state observer (ESO), completing an explicit model tracking control system based on the six-degree-of-freedom dynamic equation for the helicopter, and determining a compensation model. The model tracking control system of the present invention improves the gain of the pitch channel, and on this basis, introduces an extended state observer (ESO) to estimate helicopter modeling errors and / or disturbances, effectively improving the accuracy and stability of the control system. The control method of the present invention has outstanding anti-interference capabilities and the advantages of comprehensive state estimation and control.

Description

Technical Field

[0001] The invention relates to the technical field of helicopter control, and discloses an explicit model tracking flight control method and system based on an extended state observer. Background Art

[0002] As an important aircraft, helicopters play an irreplaceable role in many fields, including military, transportation, rescue, and observation. Helicopter control systems are crucial for ensuring flight safety, improving flight efficiency, and executing complex missions. The continuous research and improvement of helicopter control technologies during the development of helicopter control systems has significantly improved helicopter performance. Due to the extremely complex operating environment, helicopters place relatively high demands on their flight control systems. Conventional PID control methods are unable to meet the helicopter's requirements for attitude angle control accuracy and maneuverability. In severe cases, these methods may result in catastrophic accidents such as impact damage, overturning, or even crashing into the sea.

[0003] Therefore, it is necessary to introduce integration to suppress the steady-state error of helicopter control and keep the helicopter automatically balanced within the entire flight envelope. The Extended State Observer (ESO) is also introduced to observe the true dynamic model state of the helicopter and the uncertainty of unknown disturbances in real time, thereby improving the accuracy of the entire control system. Summary of the Invention

[0004] In order to improve the flight control quality and the control accuracy of helicopter pitch tracking, the present invention provides an explicit model tracking flight control method and system based on an extended state observer.

[0005] The present invention is achieved through the following technical solutions:

[0006] In a first aspect, an explicit model tracking flight control method based on an extended state observer comprises the following steps:

[0007] S1. Establish the six-degree-of-freedom dynamic equations of the helicopter;

[0008] S2. Build a helicopter pitch channel display model :

[0009] The real dynamics model of the helicopter Bandwidth Set to , damping coefficient Set to 0.7; for the helicopter's pitch channel, the helicopter pitch channel shows the model for:

[0010] ,

[0011] Where, represents the complex frequency variable in the Laplace transform;

[0012] S3. Constructing a theoretical model of helicopter pitch channel And the helicopter pitch channel inverse model :

[0013] When the helicopter is in forward flight, ignoring the aerodynamic coupling between the longitudinal and lateral directions, the theoretical model of the helicopter pitch channel is obtained. for:

[0014] ,

[0015] Where: represents the control amount of the helicopter's pitch angle, Indicates longitudinal periodic pitch variation;

[0016] Then the helicopter pitch channel inverse model for:

[0017] ;

[0018] S4. Based on the helicopter pitch channel theoretical model The differential form of the helicopter pitch channel theoretical model is obtained:

[0019] ,

[0020] Then the extended state observer ESO is:

[0021] ,

[0022] Where: 、 Respectively 、 The estimated value of express and tracking status The error feedback gain, express and tracking status The error feedback gain, express and The error feedback gain, express The estimated value of represents the modeling error and / or disturbance value, represents the control input, Indicates the actual output, 、 Respectively 、 The derivative of 、 Respectively 、 The derivative of

[0023] S5. Based on the helicopter's six-degree-of-freedom dynamic equations, complete the explicit model tracking control system and determine the compensation model , where the transfer function of the explicit model tracking control system is:

[0024] ,

[0025] in, represents the output of the explicit model tracking control system; represents the input of the explicit model tracking control system; represents the controlled object, i.e. the real dynamic model of the helicopter; represents the compensation model;

[0026] When the helicopter pitch channel inverse model When the accuracy is above 95%, the inverse model of the helicopter pitch channel is approximately equal to the inverse of the model, and the transfer function of the explicit model tracking control system is:

[0027] ,

[0028] At this time, the explicit model tracks the output of the control system Approximately equal to the helicopter pitch channel display model The output of the signal can achieve precise control of the helicopter's flight status.

[0029] As a further improvement to the technical solution of the control method of the present invention, the six-degree-of-freedom dynamic equation of the helicopter includes a linear motion equation for the translation of the center of mass and an angular rotation equation for the rotation about the center of mass. The linear motion equation for the translation of the center of mass is shown as follows:

[0030] ,

[0031] The angular rotation equation about the center of mass is as follows:

[0032] ;

[0033] in, 、 、 and 、 、 The relationship is:

[0034] ;

[0035] Where: 、 、 Represents the helicopter on the longitudinal axis , horizontal axis , vertical axis The force under is the mass of the helicopter, 、 、 Represent the longitudinal axes under the body axis system , horizontal axis , vertical axis The velocity component, 、 、 Respectively 、 、 The derivative of represents the acceleration due to gravity, 、 、 Represent the pitch angle, roll angle and yaw angle of the helicopter respectively. 、 、 They represent the roll angular velocity, yaw angular velocity, and pitch angular velocity, respectively. 、 、 Represents the helicopter around the longitudinal axis , horizontal axis , vertical axis The moment of inertia, 、 、 Represented on the vertical axis , horizontal axis , vertical axis The angular velocity under 、 、 Respectively 、 、 The derivative of Indicates that the helicopter is The product of inertia in the plane, 、 、 Represents the helicopter on the longitudinal axis , horizontal axis , vertical axis The torque under

[0036] As a further improvement of the technical solution of the control method of the present invention, in step S1, the original equation of the helicopter's six-degree-of-freedom dynamics equation is:

[0037] ,

[0038] Where, represents the mass of the helicopter, Indicates that the helicopter is on the longitudinal axis , horizontal axis , vertical axis The angular velocity of the three axes in the body axis system, is the rate of change of the helicopter's angular velocity; Indicates that the helicopter is on the longitudinal axis , horizontal axis , vertical axis The speed of the three axes under the body axis system, is the rate of change of velocity, represents the sum of the net external forces acting on the helicopter; represents the moment of inertia matrix of the helicopter, Represents the net external torque.

[0039] As a further improvement of the control method technical solution of the present invention, the helicopter's moment of inertia matrix in the original equation is Specifically:

[0040] ,

[0041] In the formula, the moment of inertia matrix In fixed form, For the helicopter around the longitudinal axis The moment of inertia of rotation, Represents the helicopter moving around the lateral axis The moment of inertia of rotation, For the helicopter around the vertical axis The moment of inertia of rotation, Indicates that the helicopter is The product of inertia in the plane, For objects in The product of inertia in the plane, and = ;

[0042] The sum of the net external forces acting on the helicopter Specifically: ,

[0043] The gravity of the helicopter On the longitudinal axis , horizontal axis , vertical axis The specific form under the body axis system is:

[0044] ,

[0045] in Expressed as:

[0046] ,

[0047] Where, Include 、 、 Three components, represented on the vertical axis , horizontal axis , vertical axis The resultant force of the three axes under the body axis system; 、 、 The helicopter rotor is on the longitudinal axis. , horizontal axis , vertical axis the force generated; 、 、 Represents the longitudinal axis of the helicopter fuselage , horizontal axis , vertical axis The force generated, 、 、 Represents the helicopter tail rotor on the longitudinal axis , horizontal axis , vertical axis The force generated, 、 、 Represents the vertical tail of the helicopter on the longitudinal axis , horizontal axis , vertical axis The force generated, 、 、 Represents the horizontal tail of the helicopter on the longitudinal axis , horizontal axis , vertical axis the force generated;

[0048] Resulting external torque Specifically:

[0049] ,

[0050] Where: 、 、 The helicopter rotor is on the longitudinal axis. , horizontal axis , vertical axis The torque generated, 、 、 Represents the longitudinal axis of the helicopter fuselage , horizontal axis , vertical axis The torque generated, 、 、 Represents the helicopter tail rotor on the longitudinal axis , horizontal axis , vertical axis The torque generated, 、 、 Represents the vertical tail of the helicopter on the longitudinal axis , horizontal axis , vertical axis The torque generated, 、 、 Represents the horizontal tail of the helicopter on the longitudinal axis , horizontal axis , vertical axis The torque generated.

[0051] In a second aspect, the present invention further provides an explicit model tracking control system of an explicit model tracking flight control method based on an extended state observer, comprising an input module, an instruction module, a feedforward module, an observation compensation feedback module, and an output module;

[0052] An input module is used to output the state of the controlled object to the instruction module;

[0053] Command module, which includes helicopter pitch channel display model , the instruction module is used to receive the input signal of the input module;

[0054] Feedforward module, which includes the inverse model of the helicopter pitch channel , compensation model , compensation model Inverse model for compensating helicopter pitch channel Nonlinear characteristics, real dynamic model of helicopter The feedforward module is used to receive the input signal of the instruction module;

[0055] Observation compensation feedback module, which includes the real dynamic model of the helicopter and extended state observer ESO; the observation compensation feedback module is used to receive the feedback control signal output by the feedforward module, where the real dynamic model of the helicopter As the controlled object, the extended state observer ESO takes the actual model of the helicopter pitch channel as Transformed into a helicopter pitch channel theoretical model The extended state observer ESO is used to estimate the state of the controlled object and the modeling error and / or disturbance, and to perform feedforward compensation on the feedforward module;

[0056] The output module is used to receive the input signal of the observation compensation feedback module and output the final output signal of the explicit model tracking control system.

[0057] As a further improvement of the control system technical solution of the present invention, the state of the controlled object is the pitch angle of the helicopter .

[0058] As a further improvement of the control system technical solution of the present invention, the helicopter pitch channel display model Set the pitch angle Convert to desired pitch angle .

[0059] As a further improvement of the technical solution of the control system of the present invention, the feedforward module further includes a first adder AD1 and a second adder AD2;

[0060] The helicopter pitch channel inverse model For the desired pitch angle Calculate the theoretically required control signal , the first adder AD1 is used to convert the control signal and feedforward control signal The feedback control signal generated by combining Input to the observation compensation feedback module, ;

[0061] The second adder AD2 adds the desired pitch angle Real dynamics model of helicopter Actual output Merger Acquisition Compensation Model Input value , , compensation model According to the input value Generate feedforward control signal .

[0062] As a further improvement of the technical solution of the control system of the present invention, the observation compensation feedback module further includes a third adder AD3;

[0063] The third adder AD3 feeds back the control signal Estimation of modeling errors and / or disturbances in the ESO output Merge to obtain control input , ; Control input Output to the real dynamic model of the helicopter and Extended State Observer (ESO); Real dynamic model of helicopter According to the control input Producing actual output , the actual output The outputs are respectively output to the output module, the extended state observer ESO and the second adder AD2;

[0064] The extended state observer ESO is used to calculate the actual output and control inputs , outputs estimates of modeling errors and / or disturbances .

[0065] As a further improvement of the technical solution of the control system of the present invention, the output module will actually output Tracking the output of the control system through the explicit model Converted into the final output signal of the explicit model tracking control system.

[0066] The explicit model tracking flight control method and system based on the extended state observer provided by the present invention have the following advantages over the prior art:

[0067] The present invention adopts an explicit model tracking control method to design a control system, improves the gain of the pitch channel, and introduces an extended state observer (ESO) on this basis to estimate the helicopter modeling error and / or disturbance, effectively improving the accuracy and stability of the control system. Compared with the existing technology, the control method described in the present invention has outstanding anti-interference ability and comprehensive state estimation and control advantages. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0069] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0070] Figure 1 A flow chart showing the method for explicit model tracking flight control based on an extended state observer according to the present invention.

[0071] Figure 2 The figure shows a structural block diagram of the explicit model tracking control system of the present invention. DETAILED DESCRIPTION

[0072] In order to more clearly understand the above-mentioned objectives, features and advantages of the present invention, the scheme of the present invention will be further described below. It should be noted that, in the absence of conflict, the embodiments of the present invention and the features therein can be combined with each other.

[0073] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present invention, rather than all the embodiments.

[0074] The specific embodiments of the present invention are described in detail below.

[0075] like Figure 1 As shown, the present invention provides a specific embodiment of an explicit model tracking flight control method based on an extended state observer, comprising the following steps:

[0076] S1. Establish the helicopter's six-degree-of-freedom dynamic equations:

[0077] The six-degree-of-freedom dynamic equations of a medium-sized helicopter include the linear motion equation of the center of mass translation and the angular rotation equation about the center of mass. The linear motion equation of the center of mass translation is as follows:

[0078] ,

[0079] The angular rotation equation about the center of mass is as follows:

[0080] ;

[0081] in, 、 、 and 、 、 The relationship is:

[0082] ,

[0083] Where: 、 、 Represents the helicopter on the longitudinal axis , horizontal axis , vertical axis The force under is the mass of the helicopter, 、 、 Represent the longitudinal axes under the body axis system , horizontal axis , vertical axis The velocity component, 、 、 Respectively 、 、 The derivative of represents the acceleration due to gravity, 、 、 Represent the pitch angle, roll angle and yaw angle of the helicopter respectively. 、 、 They represent the roll angular velocity, yaw angular velocity, and pitch angular velocity, respectively. 、 、 Represents the helicopter around the longitudinal axis , horizontal axis , vertical axis The moment of inertia, 、 、 Represented on the vertical axis , horizontal axis , vertical axis The angular velocity under 、 、 Respectively 、 、 The derivative of Indicates that the helicopter is The product of inertia in the plane, 、 、 Represents the helicopter on the longitudinal axis , horizontal axis , vertical axis The torque under.

[0084] Specifically, in step S1, the original equation of the helicopter's six-degree-of-freedom dynamics equation is:

[0085] ,

[0086] Where, represents the mass of the helicopter, Indicates that the helicopter is on the longitudinal axis , horizontal axis , vertical axis The angular velocity of the three axes in the body axis system, is the rate of change of the helicopter's angular velocity; V = [ V x V y V z ] T Indicates that the helicopter is on the longitudinal axis , horizontal axis , vertical axis The speed of the three axes under the body axis system, is the rate of change of velocity, represents the sum of the net external forces acting on the helicopter; represents the moment of inertia matrix of the helicopter, Represents the net external torque.

[0087] S2. Build a helicopter pitch channel display model :

[0088] The real dynamics model of the helicopter Bandwidth Set to , damping coefficient Set to 0.7; for the helicopter's pitch channel, the helicopter pitch channel shows the model for:

[0089] ,

[0090] Where, represents the complex frequency variable in the Laplace transform.

[0091] In this embodiment, the bandwidth is set to Set to , damping coefficient Set to 0.7. Helicopter pitch channel display model It is a real dynamic model of the helicopter It is an ideal abstraction that reflects the characteristic requirements for helicopter control dynamics.

[0092] S3. Constructing a theoretical model of helicopter pitch channel And the helicopter pitch channel inverse model :

[0093] When the helicopter is in forward flight, ignoring the aerodynamic coupling between the longitudinal and lateral directions, the theoretical model of the helicopter pitch channel is obtained. for:

[0094] ,

[0095] Where: represents the control amount of the helicopter's pitch angle, Indicates longitudinal periodic pitch variation;

[0096] Then the helicopter pitch channel inverse model for:

[0097] .

[0098] S4. Based on the helicopter pitch channel theoretical model The differential form of the helicopter pitch channel theoretical model is obtained:

[0099] ,

[0100] Then the extended state observer ESO is:

[0101] ,

[0102] Where: 、 Respectively 、 The estimated value of express and tracking status The error feedback gain, express and tracking status The error feedback gain, express and The error feedback gain, express The estimated value of represents the modeling error and / or disturbance value, represents the control input, Indicates the actual output, 、 Respectively 、 The derivative of 、 Respectively 、 The derivative of .

[0103] S5. Based on the helicopter's six-degree-of-freedom dynamic equations, complete the explicit model tracking control system and determine the compensation model , where the transfer function of the explicit model tracking control system is:

[0104]

[0105] in, represents the output of the explicit model tracking control system; represents the input of the explicit model tracking control system; represents the controlled object, i.e. the real dynamic model of the helicopter; Represents the compensation model.

[0106] When the helicopter pitch channel inverse model When the accuracy is above 95%, the helicopter pitch channel inverse model is approximately equal to the inverse of the model ( ), then the transfer function of the explicit model tracking control system is:

[0107] ,

[0108] At this time, the explicit model tracks the output of the control system Approximately equal to the helicopter pitch channel display model The output of the signal can achieve precise control of the helicopter's flight status.

[0109] The design concept of the present invention is to construct a compensation model , so that the explicit model tracks the output of the control system Approximately equal to the helicopter pitch channel display model The output is independent of the characteristics of the controlled object, and the precise control of the helicopter's flight state can be achieved.

[0110] Specifically, this embodiment constructs a compensation model To compensate for the real dynamic model of the helicopter And the helicopter pitch channel inverse model The instability phenomenon makes the generalized open-loop object after forming The extreme points of are distributed on the left half of the expected complex plane, which increases the stability of the control system and ensures the best control performance while ensuring that the loop singular value remains unchanged. is a generalized open-loop object, For the compensation model, is the inverse model of the helicopter pitch channel, It is a real dynamic model of helicopter.

[0111] Specifically, the moment of inertia matrix of the helicopter in the original equation is Specifically:

[0112] ,

[0113] In the formula, the moment of inertia matrix In fixed form, For the helicopter around the longitudinal axis The moment of inertia of rotation, Represents the helicopter moving around the lateral axis The moment of inertia of rotation, For the helicopter around the vertical axis The moment of inertia of rotation, Indicates that the helicopter is The product of inertia in the plane, For objects in The product of inertia in the plane, and = ;

[0114] The sum of the net external forces acting on the helicopter Specifically: ,

[0115] The gravity of the helicopter On the longitudinal axis , horizontal axis , vertical axis The specific form under the body axis system is:

[0116] ,

[0117] in Expressed as:

[0118] ,

[0119] Where, Include 、 、 Three components, represented on the vertical axis , horizontal axis , vertical axis The resultant force of the three axes under the body axis system; 、 、 The helicopter rotor is on the longitudinal axis. , horizontal axis , vertical axis the force generated; 、 、 Represents the longitudinal axis of the helicopter fuselage , horizontal axis , vertical axis The force generated, 、 、 Represents the helicopter tail rotor on the longitudinal axis , horizontal axis , vertical axis The force generated, 、 、 Represents the vertical tail of the helicopter on the longitudinal axis , horizontal axis , vertical axis The force generated, 、 、 Represents the horizontal tail of the helicopter on the longitudinal axis , horizontal axis , vertical axis the force generated;

[0120] Resulting external torque Specifically:

[0121] ,

[0122] Where: 、 、 The helicopter rotor is on the longitudinal axis. , horizontal axis , vertical axis The torque generated, 、 、 Represents the longitudinal axis of the helicopter fuselage , horizontal axis , vertical axis The torque generated, 、 、 Represents the helicopter tail rotor on the longitudinal axis , horizontal axis , vertical axis The torque generated, 、 、 Represents the vertical tail of the helicopter on the longitudinal axis , horizontal axis , vertical axis The torque generated, 、 、 Represents the horizontal tail of the helicopter on the longitudinal axis , horizontal axis , vertical axis The torque generated.

[0123] like Figure 2 As shown, the present invention provides an explicit model tracking control system of an explicit model tracking flight control method based on an extended state observer, comprising an input module, an instruction module, a feedforward module, an observation compensation feedback module and an output module;

[0124] An input module is used to output the state of the controlled object to the instruction module;

[0125] Command module, which includes helicopter pitch channel display model , the instruction module is used to receive the input signal of the input module;

[0126] Feedforward module, which includes the inverse model of the helicopter pitch channel , compensation model , compensation model Inverse model for compensating helicopter pitch channel Nonlinear characteristics, real dynamic model of helicopter The feedforward module is used to receive the input signal of the instruction module;

[0127] Observation compensation feedback module, which includes the real dynamic model of the helicopter and extended state observer ESO; the observation compensation feedback module is used to receive the feedback control signal output by the feedforward module, where the real dynamic model of the helicopter The extended state observer ESO includes the helicopter pitch channel theoretical model The extended state observer ESO is used to estimate the state of the controlled object and the modeling error and / or disturbance, and to perform feedforward compensation on the feedforward module;

[0128] The output module is used to receive the input signal of the observation compensation feedback module and output the final output signal of the explicit model tracking control system.

[0129] Further preferably, the feedforward module further includes a first adder AD1 and a second adder AD2, and the observation compensation feedback module further includes a third adder AD3.

[0130] The working principle of the explicit model tracking control system of the present invention is as follows:

[0131] First, the input module of the explicit model tracking control system (i.e. ) The state of the controlled object (in this embodiment, it refers to the pitch angle of the helicopter ) Output to the helicopter pitch channel display model , helicopter pitch channel display model Set the pitch angle Convert to desired pitch angle , the desired pitch angle Output to the helicopter pitch channel inverse model respectively , a second adder AD2;

[0132] The helicopter pitch channel inverse model For the desired pitch angle Calculate the theoretically required control signal , the first adder AD1 is used to convert the control signal and feedforward control signal The feedback control signal generated by combining Input to the observation compensation feedback module, The second adder AD2 adds the desired pitch angle Real dynamics model of helicopter Actual output Merger Acquisition Compensation Model Input value , , compensation model According to the input value Generate feedforward control signal ; Compensation model in this embodiment Can improve the stability and response speed of explicit model tracking control systems;

[0133] The third adder AD3 feeds back the control signal Estimation of modeling errors and / or disturbances in the ESO output Merge to obtain control input , ; Control input Output to the real dynamic model of the helicopter and Extended State Observer (ESO); Real dynamic model of helicopter According to the control input Producing actual output , the actual output The outputs are respectively output to the output module, the extended state observer ESO and the second adder AD2;

[0134] The extended state observer ESO is used to calculate the actual output and control inputs , outputs estimates of modeling errors and / or disturbances ;

[0135] The output module will actually output Tracking the output of the control system through the explicit model Converted into the final output signal of the explicit model tracking control system.

[0136] The explicit model tracking control system described in this invention differs from traditional feedback controllers by adding a feedforward module to the pitch channel, implementing a composite control approach that combines the advantages of conventional feedback control and conventional feedforward compensation control. This control approach not only significantly improves channel gain but also effectively reduces the coupling effect between channels and reduces the integral authority. This makes the integral component in the compensation model act as a "weak integral," significantly enhancing the system's tracking accuracy.

[0137] The control method of the present invention can improve the stability and response speed of the explicit model tracking control system, and also enhance the robustness of the explicit model tracking control system, so that it can better adapt to different operating conditions and environmental changes.

[0138] The above description is merely a specific embodiment of the present invention, which enables those skilled in the art to understand or implement the present invention. Although detailed descriptions have been made with reference to the aforementioned embodiments, those skilled in the art should understand that they may still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents; and such modifications or replacements do not deviate from the essence of the corresponding technical solutions within the scope of the technical solutions of the embodiments, and they should all be included in the scope of protection of the claims.

Claims

1. An explicit model tracking flight control method based on an extended state observer, characterized in that: The following steps are involved: S1. Establish the six-degree-of-freedom dynamic equations of the helicopter; S2. Build a helicopter pitch channel display model : The real dynamics model of the helicopter Bandwidth Set to , damping coefficient Set to 0.7; for the helicopter's pitch channel, the helicopter pitch channel shows the model for: ， Where, represents the complex frequency variable in the Laplace transform; S3. Constructing a theoretical model of helicopter pitch channel And the helicopter pitch channel inverse model : When the helicopter is in forward flight, ignoring the aerodynamic coupling between the longitudinal and lateral directions, the theoretical model of the helicopter pitch channel is obtained. for: ， Where: represents the control amount of the helicopter's pitch angle, Indicates longitudinal periodic pitch variation; Then the helicopter pitch channel inverse model for: ； S4. Based on the helicopter pitch channel theoretical model The differential form of the helicopter pitch channel theoretical model is obtained: ， Then the extended state observer ESO is: ， Where: 、 Respectively The estimated value of express and tracking status The error feedback gain, express and tracking status The error feedback gain, express and The error feedback gain, express The estimated value of represents the modeling error and / or disturbance value, represents the control input, Indicates the actual output, Respectively The derivative of Respectively The derivative of S5. Based on the helicopter's six-degree-of-freedom dynamic equations, complete the explicit model tracking control system and determine the compensation model , where the transfer function of the explicit model tracking control system is: ， in, represents the output of the explicit model tracking control system; represents the input of the explicit model tracking control system; represents the controlled object, i.e. the real dynamic model of the helicopter; represents the compensation model; When the helicopter pitch channel inverse model When the accuracy is above 95%, the inverse model of the helicopter pitch channel is approximately equal to the inverse of the model, and the transfer function of the explicit model tracking control system is: ， At this time, the explicit model tracks the output of the control system Approximately equal to the helicopter pitch channel display model The output of the signal can achieve precise control of the helicopter's flight status.

2. The method of explicit model tracking flight control based on extended state observer according to claim 1, characterized in that: The six-degree-of-freedom dynamic equation of the helicopter includes the linear motion equation of the center of mass translation and the angular rotation equation about the center of mass. The linear motion equation of the center of mass translation is as follows: ， The angular rotation equation about the center of mass is as follows: ； in, and The relationship is: ， Where: Represents the helicopter on the longitudinal axis , horizontal axis , vertical axis The force under is the mass of the helicopter, Represent the longitudinal axes under the body axis system , horizontal axis , vertical axis The velocity component, Respectively The derivative of represents the acceleration due to gravity, Represent the pitch angle, roll angle and yaw angle of the helicopter respectively. They represent the roll angular velocity, yaw angular velocity, and pitch angular velocity, respectively. Represents the helicopter around the longitudinal axis , horizontal axis , vertical axis The moment of inertia, Represented on the vertical axis , horizontal axis , vertical axis The angular velocity under Respectively The derivative of Indicates that the helicopter is The product of inertia in the plane, Represents the helicopter on the longitudinal axis , horizontal axis , vertical axis The torque under.

3. The method of explicit model tracking flight control based on extended state observer according to claim 2, characterized in that: In step S1, the original equation of the helicopter's six-degree-of-freedom dynamics equation is: ， Where, represents the mass of the helicopter, Indicates that the helicopter is on the longitudinal axis , horizontal axis , vertical axis The angular velocity of the three axes in the body axis system, is the rate of change of the helicopter's angular velocity; Indicates that the helicopter is on the longitudinal axis , horizontal axis , vertical axis The speed of the three axes under the body axis system, is the rate of change of velocity, represents the sum of the net external forces acting on the helicopter; represents the moment of inertia matrix of the helicopter, Represents the net external torque.

4. The method of explicit model tracking flight control based on extended state observer according to claim 3, characterized in that: The helicopter's moment of inertia matrix in the original equation is Specifically: ， In the formula, the moment of inertia matrix In fixed form, For the helicopter around the longitudinal axis The moment of inertia of rotation, Represents the helicopter moving around the lateral axis The moment of inertia of rotation, For the helicopter around the vertical axis The moment of inertia of rotation, Indicates that the helicopter is The product of inertia in the plane, For objects in The product of inertia in the plane, and = ; The sum of the net external forces acting on the helicopter Specifically: , The gravity of the helicopter On the longitudinal axis , horizontal axis , vertical axis The specific form under the body axis system is: ， in Expressed as: ， Where, Include 、 、 Three components, represented on the vertical axis , horizontal axis , vertical axis The resultant force of the three axes under the body axis system; 、 、 The helicopter rotor is on the longitudinal axis. , horizontal axis , vertical axis the force generated; Represents the longitudinal axis of the helicopter fuselage , horizontal axis , vertical axis The force generated, Represents the helicopter tail rotor on the longitudinal axis , horizontal axis , vertical axis The force generated, Represents the vertical tail of the helicopter on the longitudinal axis , horizontal axis , vertical axis The force generated, Represents the horizontal tail of the helicopter on the longitudinal axis , horizontal axis , vertical axis the force generated; Resulting external torque Specifically: ， Where: 、 、 The helicopter rotor is on the longitudinal axis. , horizontal axis , vertical axis The torque generated, 、 、 Represents the longitudinal axis of the helicopter fuselage , horizontal axis , vertical axis The torque generated, 、 、 Represents the helicopter tail rotor on the longitudinal axis , horizontal axis , vertical axis The torque generated, 、 、 Represents the vertical tail of the helicopter on the longitudinal axis , horizontal axis , vertical axis The torque generated, 、 、 Represents the horizontal tail of the helicopter on the longitudinal axis , horizontal axis , vertical axis The torque generated.

5. The explicit model tracking control system of the explicit model tracking flight control method based on the extended state observer according to any one of claims 1 to 4, characterized in that: It includes input module, instruction module, feedforward module, observation compensation feedback module and output module; An input module is used to output the state of the controlled object to the instruction module; Command module, which includes helicopter pitch channel display model , the instruction module is used to receive the input signal of the input module; Feedforward module, which includes the inverse model of the helicopter pitch channel , compensation model , compensation model Inverse model for compensating helicopter pitch channel Nonlinear characteristics, real dynamic model of helicopter The feedforward module is used to receive the input signal of the instruction module; Observation compensation feedback module, which includes the real dynamic model of the helicopter and extended state observer ESO; The observation compensation feedback module is used to receive the feedback control signal output by the feedforward module, where the real dynamic model of the helicopter As the controlled object, the extended state observer ESO takes the actual model of the helicopter pitch channel as Transformed into a helicopter pitch channel theoretical model The extended state observer ESO is used to estimate the state of the controlled object and the modeling error and / or disturbance, and to perform feedforward compensation on the feedforward module; The output module is used to receive the input signal of the observation compensation feedback module and output the final output signal of the explicit model tracking control system.

6. The explicit model tracking control system according to claim 5, characterized in that: The state of the controlled object is the pitch angle of the helicopter .

7. The explicit model tracking control system according to claim 6, characterized in that: The helicopter pitch channel display model Set the pitch angle Convert to desired pitch angle .

8. The explicit model tracking control system according to claim 7, characterized in that: The feedforward module further includes a first adder AD1 and a second adder AD2; The helicopter pitch channel inverse model For the desired pitch angle Calculate the theoretically required control signal , the first adder AD1 is used to convert the control signal and feedforward control signal The feedback control signal generated by combining Input to the observation compensation feedback module, ; The second adder AD2 adds the desired pitch angle Real dynamics model of helicopter Actual output Merger Acquisition Compensation Model Input value , , compensation model According to the input value Generate feedforward control signal .

9. The explicit model tracking control system according to claim 8, characterized in that: The observation compensation feedback module further includes a third adder AD3; The third adder AD3 feeds back the control signal Estimation of modeling errors and / or disturbances in the ESO output Merge to obtain control input ; Control input Output to the real dynamic model of the helicopter and Extended State Observer (ESO); Real dynamic model of helicopter According to the control input Producing actual output , the actual output The outputs are respectively output to the output module, the extended state observer ESO and the second adder AD2; The extended state observer ESO is used to calculate the actual output and control inputs , outputs estimates of modeling errors and / or disturbances .

10. The explicit model tracking control system according to claim 9, characterized in that: The output module will actually output Tracking the output of the control system through the explicit model Converted into the final output signal of the explicit model tracking control system.

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