直升機在垂直飛行上的非線性與適應控制設計

Nonlinear and Adaptive Control Design of A Helicopter in Vertical Flight

詹馥鴻(Fu-Hong Jhan)

指導教授 ： 林容杉

國立暨南國際大學/科技學院/電機工程學系/碩士(2010年)

https://doi.org/10.6837/NCNU.2010.00244

摘要

在過去幾十年間，對於直升機在垂直飛行上的非線性系統模型，都持續的被提出討論。直升機是一種特殊的飛行載具，它有別於其他飛行載具的地方是直升機能夠在空中一個定點做盤旋的動作。直升機在我們生活中已是一種重要的工具之一，並且廣泛的使用在許多不同的地方。例如將直升機當作運輸工具，或是使用在一些旅遊景點搭乘直升機參觀的娛樂事業上，當然還有用於軍事用途或是救援任務的直升機，比較知名的有阿帕契、海鷗直升機等等。一般而言，控制小型直升機是一件困難的事，因為直升機系統是一個高度非線性、敏感以及耦合的系統，因此，在這篇論文中我們將焦點放到直升機垂直飛行的運動上面，這將會簡化我們直升機的模型成為兩個自由度的系統。
在這篇論文中，我們將清楚的描述直升機在飛行時的數學模型，然後再提出使用非線性遞迴步階設計的技術來設計的控制器，我們主要的控制目標是將直升機的高度提升到我們所指定到的高度，以及將葉片轉動的角度能夠轉動到我們所要求的角度。我們提出的控制器有使我們的系統穩定與達到控制目的的能力。接著對於一些系統參數有可能未知的情況我們提出一個加入適應性控制法則的控制器，在參數未知的情況下，有加入適應性控制法則的控制器表現會比較好。最後會有一些模擬的結果來驗證我們提出的控制器能夠控制我們的系統。

關鍵字

直升機 ； 垂直飛行 ； 非線性遞迴步階設計 ； 適應性遞迴步階設計

並列摘要

For the past decades, nonlinear model of helicopter in vertical flight has been discussed for many times. It is a special air transit vehicle which has the characteristics to hover at a fixed position above the ground. Helicopters have become an important part of our world, because they have been widely used in various ways, including transportation, entertainment industry and military or rescue missions. In general, the control of small-scale helicopter is a difficult task, because the helicopter system is highly nonlinear, coupled and sensitive. Hence, only the vertical flight motion is focused on in this thesis. This type of helicopter model has only two degrees of freedom, including the helicopter altitude and the collective pitch angle of blade for simplification.
In this thesis, the mathematical model of a helicopter in vertical flight is described. Then the nonlinear controller based on backstepping design technology is developed for this system. The main control objective is not only to track the reference altitude as fast as possible, but also to force the collective pitch angle of blade to converge to the desired angle. The proposed nonlinear backstepping controllers have the ability to stabilize the system and reach our control objectives successfully. In addition, some system parameters are considered to be unknown, so adaptive control scheme is developed for the system. The resulting closed-system with proposed adaptive backstepping controller can have better performance than the system without adaptation. Finally, some simulation results are given to illustrate the excellent performance of the proposed controllers applied to a helicopter system in vertical flight.

並列關鍵字

Helicopter ； Vertical Flight ； Nonlinear Backstepping ； Adaptive Backstepping

參考文獻

[1] Wikipedia, Helicopter, Available: http://en.wikipedia.org/wiki/Helicopter

[2] A. Inoue, M. Deng, T. Harima, S. Nakao and N. Ueki, “Attitude Control System Design of A Helicopter Experimental System,” Proceedings of the IEEE International Conference on Industrial Technology, pp. 1240-1245, 2005.

[3] G.-R. Yu, “Robust-Optimal Control of a Nonlinear Two Degree-of-Freedom Helicopter,” Proceedings of the IEEE/ACIS International Conference on Computer and Information Science 2007 6th, pp. 744-749, 2007.

[4] G.-R. Yu and S.-H. Chen, “Nonlinear Flight Control of a Two-Degree-of-Freedom Helicopter Using Takagi-Sugeno Fuzzy Model,” Proceedings of the IEEE International Conference on Systems, Man and Cybernetics, vol. 5, pp. 4354-4359, 2006.

[5] J.-H. Yang and H.-Y. Chiu, “Adaptive Attitude Control of Helicopter System by Using Feedback Linearization Method,” Proceedings of the 2008 CACS International Automatic Control Conference, Tainan, Taiwan, 2008.