| 引用本文: | 宋彦国,王焕瑾.四直升机协调吊挂系统模型跟踪非线性控制[J].哈尔滨工业大学学报,2014,46(3):66.DOI:10.11918/j.issn.0367-6234.2014.03.012 |
| SONG Yanguo,WANG Huanjin.Model following nonlinear control of four helicopter slung load system[J].Journal of Harbin Institute of Technology,2014,46(3):66.DOI:10.11918/j.issn.0367-6234.2014.03.012 |
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| 摘要: |
| 基于直升机控制输入逆解的方法,研究了多直升机吊挂系统的控制问题．多直升机协调吊挂系统在外载荷的影响下每一架直升机具有不同的稳定性和响应形式,根据直升机气动力模型和飞行动力学模型,提出基于直升机空气动力学逆的控制输入逆解非线性模型跟踪控制器设计方法．该控制方法的显著优势是能直接处理吊索力反馈,保证多直升机吊挂系统中每一架直升机具有相同的控制律并能有效抑制吊索力扰动,且使每一架直升机具有相同的稳定性和响应特点．仿真结果证明了四直升机的协调吊挂非线性控制方法的可行性和正确性． |
| 关键词: 多直升机 非线性控制 模型跟踪 飞行动力学 吊挂载荷 |
| DOI：10.11918/j.issn.0367-6234.2014.03.012 |
| 分类号: |
| 基金项目:江苏高校优势学科建设工程资助项目. |
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| Model following nonlinear control of four helicopter slung load system |
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SONG Yanguo,WANG Huanjin
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(College of Aerospace Engineering, Nanjing University of Aeronautics and Astronautics, 210016 Nanjing, China)
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| Abstract: |
| Multi-lift system control was researched based on control input inverse solution. In multi-lift system with slung load,every helicopter has different stability and response due to cable forces influence. It is very difficult to directly introduce cable forces feedback in controller design due to lack of explicit physical transformation from forces to actuators control. According to aerodynamics and flight dynamics, a nonlinear model following control scheme is proposed based on control inputs inverse solution. It is desirable to provide a high degree of stability augmentation for the multi-lift system by using direct cable forces feedback. The most significant improvement is that each helicopter in the multi-lift system has the same control structure and control law, which remarkably simplify design of controller and improve control performance. Controller’s performance is demonstrated in a nonlinear robust simulation. |
| Key words: multi-lift system, nonlinear control, model following, flight dynamic, slung load |
