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首页> 外文期刊>Journal of aerospace engineering >H-Infinity Attitude Control System Design for a Small-Scale Autonomous Helicopter with Nonlinear Dynamics and Uncertainties
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H-Infinity Attitude Control System Design for a Small-Scale Autonomous Helicopter with Nonlinear Dynamics and Uncertainties

机译：具有非线性动力学和不确定性的小型自主直升机的H-Infinity姿态控制系统设计

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摘要

The paper focuses on the design of a robust H-infinity attitude controller for an unmanned small-scale helicopter. To take into account the salient nonlinearities, a model with six-degrees-of-freedom nonlinear dynamics and some linear approximation of the aerodynamic parts are used when extracting a linear model and performing simulations to check the performance of the designed controller. To design a robust H-infinity controller, an augmented plant is constructed by adjusting several weighting functions. Then, a robust controller is synthesized utilizing the augmented system with the weighting functions and H-infinity control methodology. Using computer simulation it is shown that the H-infinity controller works well when applied to the nonlinear model even though it is designed using a linear model approximation. Through frequency response analysis, it is shown that the proposed controller can overcome more than half of the uncertainty variations around a nominal point at the input side. The time-domain simulation with the nonlinear model demonstrates that the proposed controller is very robust in relation to the uncertainties, as was expected, overcoming large gain uncertainties and time delay in each input channel. The analysis and simulation results also show that the control system satisfies the Level 1 handling requirements, as defined in Aeronautical Design Standard ADS-33E-PRF.
机译：本文着重于为无人小型直升机设计鲁棒的H-infinity姿态控制器。为了考虑到显着的非线性，在提取线性模型并执行仿真以检查所设计控制器的性能时，使用具有六自由度非线性动力学和空气动力学零件的线性近似的模型。为了设计强大的H-infinity控制器，可通过调整几个加权函数来构造增强型工厂。然后，利用具有加权功能和H-无穷大控制方法的增强系统来合成鲁棒控制器。通过计算机仿真显示，即使将H-infinity控制器应用到非线性模型中，也可以很好地工作，即使它是使用线性模型近似设计的。通过频率响应分析，表明所提出的控制器可以克服输入侧标称点周围不确定性变化的一半以上。非线性模型的时域仿真表明，所提出的控制器相对于不确定性非常鲁棒，如预期的那样，克服了每个输入通道中的大增益不确定性和时延。分析和仿真结果还表明，该控制系统满足航空设计标准ADS-33E-PRF中定义的1级处理要求。

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