Stable Hovering Flight for a Small Unmanned Helicopter Using Fuzzy Control
Stable Hovering Flight for a Small Unmanned Helicopter Using Fuzzy Control
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DOI：
10.1155/2014/208253
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发表时间：
2014-08
影响因子：
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通讯作者：
A. N. Khizer;Dai Yaping;Syed Amjad Ali;Xu Xiangyang
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文献类型：
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作者：
A. N. Khizer;Dai Yaping;Syed Amjad Ali;Xu Xiangyang
研究了小型无人直升机在轻度大气湍流环境下的稳定悬停飞行控制问题。选择智能模糊逻辑是因为它是一种基于专家知识的非线性控制技术，能够处理飞行控制中常见的传感器产生的噪声和相互矛盾的输入。模糊非线性控制利用这些独特的性质来控制姿态、高度和位置。这种多控制器采用双环控制结构，首先设计姿态角和高度的内环控制器，然后建立直升机位置的外环控制器。所使用的非线性小型无人直升机模型来自X-Plane模拟器。介绍了一个由MATLAB/SIMULINK和X-PLANE飞行模拟器组成的仿真平台来实现所提出的控制。本研究的主要目的是设计计算智能悬停控制律，并对X平面上的小型无人直升机模型在理想和轻微湍流条件下的自动驾驶仪进行测试和分析。所提出的模糊飞行控制在嵌入到实际直升机上之前，使用X-平面直升机模型进行了验证。为了说明所提出的模糊控制方法的有效性及其对外部不确定性的处理能力，将结果与经典的PD控制器进行了比较。仿真结果表明，双环模糊控制器对一类无人驾驶旋翼机在弱湍流环境下具有良好的稳定悬停能力。
Stable hover flight control for small unmanned helicopter under light air turbulent environment is presented. Intelligent fuzzy logic is chosen because it is a nonlinear control technique based on expert knowledge and is capable of handling sensor created noise and contradictory inputs commonly encountered in flight control. The fuzzy nonlinear control utilizes these distinct qualities for attitude, height, and position control. These multiple controls are developed using two-loop control structure by first designing an inner-loop controller for attitude angles and height and then by establishing outer-loop controller for helicopter position. The nonlinear small unmanned helicopter model used comes from X-Plane simulator. A simulation platform consisting of MATLAB/Simulink and X-Plane© flight simulator was introduced to implement the proposed controls. The main objective of this research is to design computationally intelligent control laws for hovering and to test and analyze this autopilot for small unmanned helicopter model on X-Plane under ideal and mild turbulent condition. Proposed fuzzy flight controls are validated using an X-Plane helicopter model before being embedded on actual helicopter. To show the effectiveness of the proposed fuzzy control method and its ability to cope with the external uncertainties, results are compared with a classical PD controller. Simulated results show that two-loop fuzzy controllers have a good ability to establish stable hovering for a class of unmanned rotorcraft in the presence of light turbulent environment.