Research On The Robust Control Technology Of T-REX600 Unmanned Helicopter

Small unmanned helicopter can take off and land at any time,hover,cruise,ultra-low speed flight,can perform high-risk missions,high-intensity flight,and has small size,light weight,strong stealth,It has the advantage of low cost,so it is widely used in military and civil fields.But small unmanned helicopter is a kind of complicated mechanical structure,there is a strong coupling between each channel,unstable and nonlinear system,its difficult to establish accurate mathematical model,for many ways difficult to apply in the modern control theory to flight control system,so the uncertainty of the precise model of small unmanned helicopter robust control theory has important theoretical significance and practical application value.This paper mainly adopts the method of combining theoretical analysis and numerical simulation to model and control the small unmanned helicopter.The main research work of this paper is as follows:Firstly,the paper describes the uncertainty and robustness of the system and the unmanned helicopter system,the mathematical application basis of the robust control theory and the use of the linear matrix inequality(LMI)toolbox.Secondly,the t-rex600 uav helicopter mathematical model is established.The mechanical structure of the small unmanned helicopter is divided into several modules.The equations of force and moment are established by force analysis of each part of the helicopter,and the equations of rigid body dynamics of the unmanned helicopter are obtained.Finally,a complete mathematical model of a small unmanned helicopter is built and linearized.Finally,the h-infinity controller,H2 controller and LQR controller based on LMI are designed.This paper mainly verifies the control effect of h-infinity controller and H2 controller in the case of bounded interference and white noise interference of t-rex600 unmanned helicopter,and builds simulink model in MATLAB for simulation analysis.Finally,it is concluded that in the case of external interference,the control effect of h-infinity controller is better than that of H2 controller and LQR controller.In addition,the design of the hybrid controller for the t-rex600 unmanned helicopter only considers the external interference and simultaneously considers the parameter uncertainty and external interference.The simulation results show that the control effect of the hybrid controller is better than that of multiple controllers when only one uncertainty is considered.