【作者】 高同跃；

【导师】 龚振邦； 罗均；

【作者基本信息】 上海大学 ， 机械电子工程， 2008， 博士

【摘要】 超小型无人直升机具有成本低、体积小、携带方便、起飞着陆场地小等特点,尤其是可做滞空飞行,这使其在反恐防爆等重要场合进行应用的优越性特别突出。但是,超小型无人直升机是一个非线性、强耦合以及非稳定的动力学系统,尤其是在滞空飞行状态下,其稳定性非常差,更容易受到风等外力的干扰,所以,进行超小型无人直升机飞控系统以及自主滞空飞行的研究,具有重要的理论意义和应用价值。本论文在分析了国内外对超小型无人直升机系统研究的基础上,归纳了超小型无人直升机系统的若干问题,并根据研究背景的需要,提出了进行超小型无人直升机飞控系统的研究目标,并规划了为实现研究目标而需要进行的研究内容。接着,从实际需求出发,对超小型无人直升机系统的传感器、控制器和通讯系统进行了选型,并基于模块化的指导思想进行了超小型无人直升机的总体方案设计。姿态传感器是超小型无人直升机控制系统的核心部件,为了得到高性能的姿态参考系统,本论文对超小型无人直升机机载惯性传感器进行了信息融合的研究;融合的主要思想是:积分角速率信号得到预估姿态,然后由加速度计和磁力计得到的姿态角作为观测量,纠正预估姿态中由于随机漂移等因素引起的误差,得到最优的姿态信息,并同时对角速度陀螺的漂移误差进行估计。根据上述融合思想,本论文提出了卡尔曼滤波算法一种新的模型,并进行了线性化和离散化处理,最后通过实验验证了基于该扩展卡尔曼滤波算法的低成本姿态参考系统的静态性能和动态性能。对于一个实际的系统,推导其数学模型是一个基本而且重要的部分,一个好的数学模型可以使我们明白系统的运动机理和物理结构,对进行控制系统的设计有很大的帮助。为了建立超小型无人直升机的数学模型,本论文首先建立了超小型无人直升机的机体刚体动力学方程和空气动力学模型,同时对主桨和贝尔—希勒翼进行了研究,在上述研究的基础上,通过对滞空飞行状况下超小型无人直升机动力学方程的合理假设,先后求解得到伺服小翼挥舞角的表达式以及俯仰力矩、横滚力矩和偏航力矩的简化方程,从而确定了具有物理意义的滞空飞行状态下的超小型无人直升机姿态模型的结构。对上述滞空飞行状态下超小型无人直升机姿态模型中存在的一些未知参数,本论文通过系统辨识的方法得到上述参数。首先,分析超小型无人直升机的特点,并根据其特点设计了飞行实验,然后利用飞行数据,采用预测误差法对姿态模型中的未知参数进行系统辨识,从而获得完整的姿态模型;然后,通过仿真对上述姿态模型进行研究,通过研究发现:在滞空飞行状态下,超小型无人直升机姿态的耦合性主要存在与俯仰通道和横滚通道之间。超小型无人直升机的飞控系统包括导航控制和姿态控制,而且导航控制一般也是以姿态控制作为内环来实现的。姿态控制是超小型无人直升机飞控系统的核心问题,也是最关键的问题。根据上面的分析,本论文建立以姿态控制为内环,导航控制为外环的超小型无人直升机飞控系统的控制框架。针对超小型无人直升机姿态通道之间的耦合性,本论文首先采用了一种神经网络解耦控制算法;然后提出了一种模糊规则前提、模糊规则结论和解模糊具有自适应调节性能的超小型无人直升机姿态自适应模糊控制算法,并对超小型无人直升机姿态控制系统的性能进行了仿真验证;另外,对超小型无人直升机的导航系统进行了研究。在上述几章研究的基础上,本论文对超小型无人直升机飞控系统的软硬件进行了设计。本论文首先采用模块化的思想设计了机载飞控系统,它由姿态参考系统模块、GPS制导模块、舵机控制模块和主控模块组成。然后,根据各个模块的功能,对机载飞控系统的软件任务进行了分解,简化了软件设计的难度;并采用时钟驱动策略和循环查询标志策略相结合的方法,对机载飞控系统的软件任务进行调度。并且,设计具有实时监控功能的地面监控系统。最后,通过超小型无人直升机系统完成自主滞空飞行,本论文验证了设计的超小型无人直升机飞控系统的性能。首先,设计了超小型无人直升机系统的自主滞空飞行试验,然后,通过分析试验数据验证了超小型无人直升机系统导航控制和姿态控制算法的可行性。更多还原

【Abstract】 Subminiature Unmanned Helicopter (SUH) has the advantage of the low cost、the small volume、the conveniency for transportation、the small land for flying-off and landfall. Especially,it can hang in the small space. So it has the widely purpose in the military and civial fields. The flight control system is the key of the subminiature unmanned helicopter system. The research of flight control system and autonomously hanging is very valuable.Fistly, from the view of the actual requirement, the sensors、the microchip and data linker of subminiature unmanned helicopter system were choosed. The whole scheme of system is designed on the thought of modularization.Attitude sensors are the key part to the flight control system. For the high precision attitude and heading referrence system (AHRS), the information fuse to the sensors on the flight control system was carried out. The main thought of the data fuse is that estimated attitude was get by the integral the gyroscope, the attitude from the acceleratoremter and magnetmeter was regard as the observation data to correct the error of the estimated attitude and get the error of the gyroscope. Based on the above thought, the new kalman filter mode was put forward and was linearizated and discreted. Finally, the experiment was carried out to testify the performance of the AHRS.To the actual system, the model of system is an importance part. The high precision model is very helpful to the design the control system. For the model of the SUH, the geostatics equation and aerodynamics equation was set up. At the same time, the main blade and the bell-hiller flybar were studied. Based on the above research, the wave angle of bell-hiller flybar、pitch moment equation、roll moment equation and yaw moment equation was got by the reasonable assumption to the geostatics equation of SUH system at the flying state of hanging. So the structure of the attitude model of SUH sytem at hanging was got.To the unknown parameters of the above attitude model,the system identification was carried out. Firstly, the characteristic of SUH system was researched. The flying experimation was implemented to get the data. Then the prediction error method was used to get the unknown parameters. So the integrated attitude model of SUH was got. Finally the attitude model of SUH system was researched by the simulation. The result was that the coupling effect of SUH system at the handing mainly existed in pitch channel and roll channel.The flight control system of SUH system included of the navigation system and attitude control system. And the navigation system was carried out by the contol system being the inner circle. The attitude control system was the basic and key part problem. Based on above analysis, the flight contol sytem by attitude control system being the inner circle and navigation control system being the outer circle was designed. To deal with the coupling effect of the attitude channels, the nerve network athrimetic was dopted. Then the adaptive fuzzy arithmetic was put forward. The performation of the flight control system was testified by the simulation. And the ground surveillance system was designed too.Besed on the low-cost attitude and heading referrence system、system identification、the nerve network decoupled arithmetic and the adaptive fuzzy arithmetic, the software and hardware system was designed. Then the ground surveillance system was designed too.Finally, the performation of the flight control system was testified by the autonomously hanging flight which is the worst flight state. The navigtaion control and attitude control system was proved to be viable by analyzing the flight data.更多还原