Mathematical modeling of helicopter attitude and trajectory flight control based on nonlinear dynamic inversion

被引：0

作者：

Ma S. ^{[1
]}

Yang G. ^{[2
]}

机构：

[1] China Academy of Civil Aviation Science and Technology, Beijing

[2] Civil Aviation Administration of China, Beijing

来源：

Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition) | 2016年 / 44卷 / 12期

关键词：

Dynamic inverse; Dynamics; Flight control; Helicopter; Nonlinear system;

D O I：

10.13245/j.hust.161216

中图分类号：

学科分类号：

摘要：

In this paper, helicopter flight control mathematical model was designed and implemented in helicopter simulations, using nonlinear dynamic inversion to realize helicopter real-time attitude and trajectory control. By grouping helicopter state quantities, partial inversion loops were divided with outer loop containing inner loop. The control circuit of each state quantity group was designed separately. Helicopter tracks input attitude angle and overload in simulation and the attitude and trajectory control was implemented by inner and outer loop real-time computing. With the mathematical model of nonlinear dynamic inversion, which decouples system dynamic characteristics, the nonlinear part of helicopter motion equations was compatible with linear part. The design of helicopter flight control is simplified, and the required state variables can be easily obtained with the universal nonlinear control method. It realizes various helicopter flexible movements. The Black Hawk helicopter data was used to validate the dynamic inversion control model, the results indicate that the output of each control channel have quick and correct response. © 2016, Editorial Board of Journal of Huazhong University of Science and Technology. All right reserved.

引用

页码：92 / 97

页数：5

共 9 条

[1]

Zeng S., Zhu J.H., Adaptive compensated dynamic inversion control for a helicopter with approximate mathematical model, Proceedings of the 2006 International Conference on Computational Intelligence for Modelling Control and Automation, pp. 123-234, (2006)

[2]

Lin Q., Cai Z.H., Wang Y.X., Et al., Adaptive flight control design for quadrotor UAV based on dynamic inversion and neural networks, Proceedings of the 2013 Third International Conference on Instrumentation, Measurement, Computer, Communication and Control, pp. 1461-1466, (2013)

[3]

Lakshmikanth G.S., Padhi R., Watkins J.M., Et al., Adaptive flight-control design using Neural-network-aided optimal nonlinear dynamic inversion, Journal of Aerospace Information Systems, 11, 11, pp. 785-806, (2014)

[4]

Abaspour A., Sadati S.H., Sadeghi M., Nonlinear optimized adaptive trajectory control of helicopter, Control Theory and Technology, 13, 4, pp. 297-310, (2015)

[5]

Peng K.M., Lum K.Y., Chen B.M., Flight control design with hierarchical dynamic inversion, Proceedings of the 2010 8th IEEE International Conference on Control and Automation, pp. 297-302, (2010)

[6]

Wang H.D., Yi J.Q., Fan G.L., Flight control system design with hierarchy-structured dynamic inversion and dynamic control allocation, Proceedings of the 2009 IEEE International Conference on Systems, Man, and Cybernetics, pp. 5162-5167, (2009)

[7]

Kawaguchi J., Miyazawa Y., Ninomiya T., Flight Control Law Design with Hierarchy-structured Dynamic Inversion Approach, (2008)

[8]

Howlett J.J., UH-60A black hwak Engineering Simulation Program, Volume II: Mathematical Model, (1981)

[9]

Kawaguchi J., Miyazawa Y., Ninomiya T., Stochastic Evaluation and Optimization of the Hierarchy-structured Dynamic Inversion Flight Control, (2009)

← 1 →