International Journal of Aeronautical and Space Sciences

The Korean Society for Aeronautical and Space Sciences (한국항공우주학회)
권호 표지
DOI QR코드

DOI QR Code

Sliding Mode Trim and Attitude Control of a 2-00F Rigid-Rotor Helicopter Model

  • Jeong, Heon-Sul (School of Mechanical Engineering Kunsan National University) ;
  • Chang, Se-Myong (School of Mechanical Engineering Kunsan National University) ;
  • Park, Jin-Sung (Hydraulic Power Transmission Research Laboratory Korea Institute of Machinery and Materials)
  • Published : 2005.12.31
Download PDF
⟨ Previous Next ⟩

Abstract

An experimental control system is proposed for the attitude control of a simplified 2-DOF helicopter model. The main rotor is a rigid one, and the fuselage is simply supported by a fixed hinge point where the longitudinal motion is decoupled from the lateral one since the translations and the rolling rotation are completely removed. The yaw trim of the helicopter is performed with a tail rotor, by which the azimuthal attitude can be adjusted on the rotatable post in the yaw direction. The robust sliding mode control tracking a given attitude angle is proposed based on the flight dynamics. A pitch damper is inserted for the control of pitching angle while the compensator to reaction torque is used for the control of azimuth angle. Several parameters of the system are selected through experiments. The results shows that the proposed control method effectively counteracts nonlinear perturbations such as main rotor disturbance, undesirable chattering, and high frequency dynamics.

Keywords

References

  1. Prouty, R. W., 1986, Helicopter performance, stability, and control, PWS Publishers, Boston, pp, 541-637
  2. Newman, S., 1994, The foundation of helicopter flight, Edward Arnold, London
  3. Parry, D. L. K. and Murray-Smith, D. J., 1985, 'The application of modal control theory to the single rotor helicopter', Proc. 11th European Rotorcrcft Forum, London, September
  4. Mannes, M. A., Gribble, J. J. and Murray-Smith, D. J., 1990, 'Multivariable methods for helicopter flight control law design: a review', Proc. 16th Annual Society European Rotorcrcft Forum, Glasgow, Scotland, September
  5. Postlethwaite I. and Walker, D. J., 1994, 'The design of the helicopter control systems using advanced H$\infty$, control', Proc. American Control Conference, Baltimore, June, pp. 3193-3197
  6. Jeong, H. S. and Utkin, V. I., 1999, 'Sliding mode tracking control of systems with unstable zero dynamics', Variable structure systems, sliding mode and nonlinear control, LNCS, Springer-Verlag, Berlin
  7. Im, K. M. and Ham W. C., 1997, 'Sliding mode control for helicopter attitude regulation at hovering', ICASE Journal, Vol. 3, No. 3, pp. 563-568
  8. Leishman J., 2000, Principles of helicopter aerodynamics, Cambridge University Press
  9. Andrew Y. Ng, Kim H. J. et aI., 2004, 'Autonomous helicopter flight via reinforcement learning', NIPS16
  10. Heon-Sul Jeong, Jin-Sung Park, Seok-Hyung Oh, Jun-Won Yun, 1999, 'Sliding Mode Attitude Control of a 2 DOF Model Helicopter', 3rd International Workshop on Advanced Mechatronics, Chunchon, KOREA