| The small unmanned helicopter has a wide range of applications,covering military,civilian and scientific research and other fields.However,the small unmanned helicopter system has the characteristics of multivariable,strong coupling,time-varying and non-linear,which makes the control very difficult.To solve the above problems,a high performance flight control algorithm based on disturbance observer is proposed in this paper.Specifically,the major contributions of this work can be summarized as follows.(1)The force of each component of the small unmanned helicopter is analyzed.According to the mechanism modeling method,the non-linear mathematical model of the small unmanned helicopter is established and rationally simplified,which lays the foundation for the design of the controller.(2)Aiming at the trajectory tracking problem of small unmanned helicopter,the position loop controller and attitude loop controller of small unmanned helicopter system are designed by using traditional sliding mode control algorithm.Then,aiming at the slow convergence speed and serious chattering problem of traditional sliding mode control algorithm,a fast terminal sliding mode control algorithm is designed to effectively improve the convergence speed,and a disturbance observer is designed to compensate external disturbances and internal uncertainties of the system,so as to reduce chattering.For the above two flight control algorithms,the closed-loop stability of the system is proved by Lyapunov theorem,and the effectiveness of the control algorithm is verified by SIMULINK simulation.(3)According to the structural design requirements of unmanned helicopter system,the hardware and software design of flight control system are completed.The flight test platform was built and the attitude control flight experiment of a small unmanned helicopter was carried out.The control performance and quality of the fast terminal sliding mode control algorithm were verified. |
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