【作者】 万德旺；

【导师】 陈平；

【作者基本信息】 哈尔滨工业大学 ， 电气工程， 2008， 硕士

【摘要】 四旋翼垂直起降机相对于一般的单螺旋旋翼式直升机可以采用更小的螺旋桨,不至于使裸露在外面的螺旋桨刮到周围物体,从而使飞行变得更加安全。此外,四个螺旋桨产生的推力较单个螺旋桨产生的推力能更好的实现飞行器的静态盘旋,并且可以在悬空静止的状态瞬时改变其姿态,具有较高的机动性和有效承载力。它的价值已经逐渐被控制领域和商业领域的人们所重视。本文建立了四旋翼垂直起降机进行动力学模型,针对建模模型设计H_∞回路成形控制器,同时搭建物理平台,并在RTW环境下进行了半实物仿真。首先,确定了四旋翼垂直起降机的设计方案。四旋翼垂直起降机具有四个输入力,同时却有六个输出,所以它是一种欠驱动系统,而且四旋翼垂直起降机是通过改变螺旋桨速度实现升力变化的,这样就会导致其动力的不稳定,所以就需要有稳定的控制率,用来保证它的稳定飞行。而H_∞回路成形法能够将经典频域设计理论的鲁棒性优点和现代控制理论的状态空间方法相结合,为此我们选用H_∞回路成形方法设计飞行控制器。为设计控制器,首先我们建立它的非线性模型并对模型进行线性化,然后通过Matlab仿真,验证所设计的H_∞回路成形控制器的控制效果。其次,为了测定实际模型的参数,我们对垂直起降机的四个旋翼进行驱动,分析设计旋翼电机驱动电路,搭建整个物理平台。最后,构建系统的仿真环境,完成实时仿真环境的建立,并通过实时仿真测定电机参数和系统转动惯量,整定得到实际对象模型,并对系统的横滚通道进行实时仿真,验证控制器的效果。更多还原

【Abstract】 Compared with single-rotor helicopter, the four-rotor VTOL(vertical take-off and landing)helicopter has smaller propellers, which can reduce the risk of crashing into the surrounding objects. o it can make the flight safer. In addition, the thrust produced by four propellers can realize flight vehicle’s circling in static state better comparing with that of single propeller, and can change its posture in the hovering condition instantly.It also has good mobility and the effective supporting capacity. Gradually it was highly valued by the people in controlling and commercial domain. The article establishes the dynamic model of the four- rotor VTOL helicopter. Specific to the built model, we design H_∞loop shaping controller, simultaneously set up the physical platform, and carry on semi-physical simulation on the RTW environment.Firstly we determine the design proposal of the four-rotor VTOL helicopter in the article. The four-rotor VTOL helicopter has four inputs and six outputs, therefore it is a underactuated control system. Moreover the four-rotor VTOL helicopter makes the lifting force changed by changing the propeller speed, which causes the instability of its power.Therefore we need to have the stable inverse amplification factor to guarantee its stabilized flight.The H_∞loop shaping can combine the robustness merits of the classical frequency domain and the state space methods of the modern control theory, so we select H_∞loop shaping method to design flight controller. In order to design the controller,firstly we establish its non-linear model and carry on the linearization to the model, then through the Matlab simulation, confirm the control effect of the H_∞loop shaping controller we designed.Next, to determine the actual model parameter, we design the drive circuit for-four propellers, and then set up the entire physics platform.Finally, we construct the real-time emulation environment, and determine the electrical motor parameter and the system moment of inertia, obtain the model of the actual object and carry on the real-time simulation to system roll channel, confirm the controller’s effect.更多还原