基于非线性干扰观测器的直升机滑模反演控制：期刊simulink模型复现与分析

基于非线性干扰观测器的直升机滑模反演控制，期刊simulink模型复现

ID:6949645852209108

P17696131442

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基于非线性干扰观测器的直升机滑模反演控制，期刊Simulink模型复现

摘要：
直升机滑模反演控制是一种常用的控制策略，能够有效地实现直升机的稳定控制和轨迹跟踪。为了验证这种控制策略的有效性，本研究采用非线性干扰观测器辅助直升机滑模反演控制。通过在Matlab/Simulink环境下建立直升机模型，并进行仿真实验，验证该控制策略在直升机控制中的应用效果。

引言：
直升机作为一种重要的飞行器，广泛应用于军事、民用和科研领域。然而，由于直升机的非线性和强耦合特性，其控制问题一直是研究的热点之一。滑模控制作为一种有效的控制方法，被广泛用于直升机的姿态控制和飞行轨迹跟踪。

方法：
本研究采用非线性干扰观测器辅助直升机滑模反演控制。首先，建立直升机的数学模型，包括飞行动力学方程和控制方程。然后，根据滑模控制理论，设计滑模面和滑模控制律。接下来，引入非线性干扰观测器，用于估计直升机的干扰量。最后，将上述控制策略在Simulink环境下进行仿真，并进行性能评估。

结果与讨论：
将所建立的直升机模型以Simulink的形式进行仿真，并通过系统的状态响应曲线、控制误差曲线等来评估所设计的控制策略的性能。仿真结果表明，非线性干扰观测器辅助滑模反演控制能够实现直升机的稳定控制和轨迹跟踪，对于抵抗外界干扰具有较好的鲁棒性。

结论：
本研究以非线性干扰观测器辅助直升机滑模反演控制为基础，通过在Simulink环境下的仿真实验，验证了该控制策略的有效性和鲁棒性。该控制策略能够实现直升机的稳定控制和轨迹跟踪，对于提高直升机的控制性能具有重要的意义。

关键词：直升机；滑模控制；非线性干扰观测器；Simulink模型复现

Abstract:
Helicopter sliding mode control is a commonly used control strategy that can effectively achieve stable control and trajectory tracking of helicopters. In order to verify the effectiveness of this control strategy, this study adopts a nonlinear disturbance observer to assist the helicopter sliding mode control. By establishing a helicopter model and conducting simulation experiments in the Matlab/Simulink environment, the application effect of this control strategy in helicopter control is verified.

Introduction:
As an important type of aircraft, helicopters are widely used in military, civilian, and scientific research fields. However, due to the nonlinearity and strong coupling characteristics of helicopters, their control problems have always been a hot research topic. Sliding mode control, as an effective control method, is widely used in helicopter attitude control and flight trajectory tracking.

Method:
This study adopts a nonlinear disturbance observer to assist the helicopter sliding mode control. Firstly, the mathematical model of the helicopter is established, including flight dynamics equations and control equations. Then, according to the sliding mode control theory, the sliding surface and sliding mode control law are designed. Next, the nonlinear disturbance observer is introduced to estimate the disturbance of the helicopter. Finally, the above control strategy is simulated in the Simulink environment and performance evaluation is conducted.

Results and Discussion:
The established helicopter model is simulated in the form of Simulink, and the performance of the designed control strategy is evaluated through the system’s state response curve, control error curve, etc. The simulation results show that the sliding mode control assisted by the nonlinear disturbance observer can achieve stable control and trajectory tracking of the helicopter, and has good robustness against external disturbances.

Conclusion:
Based on the sliding mode control assisted by the nonlinear disturbance observer, this study verifies the effectiveness and robustness of this control strategy through simulation experiments in the Simulink environment. This control strategy can achieve stable control and trajectory tracking of the helicopter, which is of great significance to improve the control performance of helicopters.

Keywords: helicopter; sliding mode control; nonlinear disturbance observer; Simulink model reproduction

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