The Research On Sliding-Mode Tracking Control Of A Helicopter Model

The helicopter is widely used in the field of military and civil because of its vertical takeoff,hovering in the air,etc. The helicopter is a nonlinear and multivariable control system with strong coupling,whose research involved to a series of related problems,such as system modeling,controller design and interference. These problems can't reach ideal effects by using the classical control theory,the sliding-mode control,fuzzy control and other intelligent control methods are the main research directions that resolve those problems.The large risk of a actual helicopter flight test and the high cost of the sensor bring about many security risks in the validations of flight control algorithms. To study the flight control problem quickly and effectively,many helicopter models are used to simulate the real helicopter flight.In this paper,the research object is a 2-DOF helicopter model. After the analysis of the helicopter model architecture and building up the state space model,the helicopter angle tracking controller are designed using sliding-mode control method with a LQR integral switching surface.The sliding-mode can improve the movement quality of helicopter system and enhance anti-jamming capabilities,but also bring the severe chattering problem of controller output. Using the product of switching manifold and its differential and the change in switching gain as language variables of fuzzy system,a fuzzy sliding mode controller is designed to adjust the switching gain. The simulation results show that the control method designed can not only maintain the advantages of conventional sliding-mode control,but also reduce the chattering of controller output to some extent.