面向森林防火的无人直升机复合抗干扰飞行控制技术研究

In order to improve the maneuver ability of forest fire prevention and fire fighting, it is an effective means to develop the forest fire prevention technology based on unmanned aerial vehicle. In order to improve the flight control ability of unmanned helicopters in complex forest environment, the nonlinear disturbance observer will be designed to complete the effective approximation for time-varying dynamics disturbance of unmanned helicopters based on the mathematical model of unmanned helicopter's nonlinear flight movement and the measurable information. Then, the robust anti-disturbance flight controller is developed based on the output of non-linear disturbance observer for unmanned helicopter to achieve high control stability and restrain the affection of unknown dynamic disturbance on the flight control performance of unmanned helicopter. Considering the existence of system uncertainty, modeling errors and constraints on input and output variable of unmanned helicopter non-linear flight motion model, the effective nonlinear composite anti-disturbance flight control method is proposed to achieve robust stable control of unmanned helicopters and to ensure flight control performance under the existence of a single type or multiple types of conventional disturbance with stochastic disturbance. The obtained research results can solve the difficulty of effective flight control for unmanned helicopter forest fire patrolling and monitoring under the dynamic disturbance issues, so that unmanned helicopters in the forest fire patrol and monitoring will safely fly. Thereby, the mission completed capacity of task for the unmanned helicopter is enhanced.

为了提高森林防火与灭火的机动能力，发展基于无人机的森林防火技术，开辟空中无人监控是一种有效的手段。为了提高复杂森林环境下无人直升机飞行控制性能，本项目研究面向森林防火的无人直升机复合抗干扰飞行控制技术。利用无人直升机非线性飞行运动数学模型以及可量测信息，设计非线性干扰观测器对时变动态干扰逼近，并基于干扰观测器的输出提出无人直升机的鲁棒抗扰飞行控制方法，抑制外部未知动态干扰对无人直升机飞行控制性能的影响。针对无人直升机受扰非线性飞行运动模型存在系统不确定性、建模误差以及输入输出变量存在各种各样的软硬约束条件，提出无人直升机复合抗干扰控制方法，确保在单一类型或多种类型的常规干扰与随机干扰并存的情况下无人直升机高稳定性控制。研究成果有望解决无人直升机森林火灾巡逻与监控时受到动态干扰难以有效控制的问题，使无人直升机在实现森林火灾巡逻与监控时安全飞行，进而提高任务完成能力。

本项目为了提高森林防火的机动能力，针对基于无人直升机的森林火灾监控系统研究了一套面向森林防火的无人直升机复合抗干扰飞行控制技术。探索了未知动态干扰与无人直升机之间的耦合机理，并建立动态干扰作用下的无人直升机非线性飞行运动数学模型。利用无人直升机非线性飞行运动数学模型以及可量测信息，设计非线性干扰观测器对时变动态干扰逼近，并基于干扰观测器的输出提出无人直升机的鲁棒抗扰飞行控制方法，抑制外部未知动态干扰对无人直升机飞行控制性能的影响。针对无人直升机受扰非线性飞行运动模型存在系统不确定性、建模误差以及输入输出变量存在各种各样的软硬约束条件，提出无人直升机复合抗干扰控制方法，确保在单一类型或多种类型的常规干扰与随机干扰并存的情况下无人直升机高稳定性控制。研究成果有望解决无人直升机森林火灾巡逻与监控时受到动态干扰难以有效控制的问题，使无人直升机在实现森林火灾巡逻与监控时安全飞行，进而提高任务完成能力。