International Journal of Aeronautical and Space Sciences

  • 제6권2호
  • /
  • Pages.23-32
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  • 2005
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  • 2093-274X(pISSN)
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  • 2093-2480(eISSN)
한국항공우주학회 (The Korean Society for Aeronautical and Space Sciences)
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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)
  • 발행 : 2005.12.31
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초록

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.

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참고문헌

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