基于模型差分析的旋翼飞行机器人航向与垂向预测控制方法

本文针对旋翼飞行机器人全包线机动飞行中的驱动器滞后以及动力学模型时变的问题,提出了应对不确定性动力学模型的基于模型差分析的增量平稳预测控制方法。该方法首先通过建立增量平稳预测过程模型来应对驱动器输出滞后与稳态模型以及系统工作点的不确定性,并提升控制系统鲁棒性。然后通过自适应集员滤波器在线估计系统瞬态动力学与名义模型的偏差来补偿全包线飞行中时变模型对于名义控制器跟踪性能的影响。最后,通过实际的飞行试验验证了此方法能够有效的解决全包线飞行中航向与垂向的驱动器滞后与动力学时变问题,并且可以实用于旋翼机器人航向与垂向的全包线自主飞行控制。

For realizing the yaw-heave coupling control of fly-robot with rotor wings in full flight envelope, model-error analysis based controller is developed based on model predictive control and adaptive set-membership filter estimation. A steady increment based model predictive control is proposed, which makes use of the estimated values and boundaries of full states and model errors to deal with the varying yaw-heave dynamics and actuator delay in full flight envelope. The simulation and flight experiment results demonstrate that the model-error analysis based controller can solve the actuator delay and varying yaw-heave dynamics, and is feasible for the yaw-heave control of unmanned helicopters in full flight envelope.

863重点项目—空中搜索探测机器人研制(2007AA041503)