Helicopter nonlinear dynamic inversion flight control model design

Abstract

Because of the helicopter nonlinear dynamics characteristics, it is very difficult to guarantee system stability by using classical linear system control method, in order to solve this problem, helicopter flight control model is designed and implemented using nonlinear dynamic inversion control methods in this paper. By grouping helicopter state variables, “Partial Inversion” circuits are divided. The control circuit of each group state variable is designed separately; in the dynamic inversion flight control model, inner circuit is included by outer circuit. In inner and outer circuit, nonlinear system transforms to linear system by feedback linearization method, control parameters can be designed based on linear system theory. By inner and outer circuit computing, helicopter tracking the input attitude angle and the input overload, the flight control model is implemented. The Black Hawk helicopter data is used to validate the dynamic inversion control model, the results show that the output response speed of each control channel is fast, and the response signals follows the input signals quickly and precisely. The nonlinear dynamic inversion flight control model simplifies the helicopter flight control circuit design, various helicopter flexible maneuvers are realized, and the control results are satisfied.