三自由度直升机多刚体动力学建模与参数辨识

doi:10.13229/j.cnki.jdxbgxb.20220745

Abstract

Abstract:

The 3-degrees of freedom （DOF） helicopter has three typical features： nonlinearity， underactuation， and suffering from uncertainties and external disturbances. It has received much attention from well-known research groups， owing to its convivence for the verification of motion planning and robust control. However， the lack of accurate models for motion and actuator dynamics leading to the limitation for the motion planning and control algorithms. Motivated by this fact， we study the model of a 3-DOF helicopter platform as a multi-rigid-body system， which is equipped with low-precision encoders for attitude measurements. The detailed work includes： ① modelling the dynamics for three bodies respectively； ② identifying the parameters of the multi-channel motion as well as the parameters of the motor-propeller lifting component； ③ linearizing and analyzing the nonlinear model； ④ verifying both the nonlinear and linearized models. Finally， a benchmark model for the platform is obtained， by which， the model-based controller can be designed. Some experiments are designed to show the completeness and high-accuracy of the benchmark model. Two “feedforward + linear quadratic regulator （LQR）-based feedback” controllers for the angular trajectory tracking are designed based on the identified model and implemented on the experimental setup， where the tracking performance of these controllers can be benchmarked against other advanced algorithms.

Key words: multi-rigid body dynamics, parameter identification, 3-DOF helicopter, model-based control

CLC Number:

V249.122

Shi-yao LI,Te ZHANG,Bo ZHU,Chen PENG,Tian-jiang HU. Multi-rigid-body dynamics and parameter identification of a 3-DOF helicopter[J].Journal of Jilin University(Engineering and Technology Edition), 2024, 54(11): 3379-3391.

References 17

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Multi-rigid-body dynamics and parameter identification of a 3-DOF helicopter

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