Modélisation et commande de vol d'un hélicoptère drone soumis à une rafale de vent

Abstract : The work concerns the modeling and nonlinear control of a scale helicopter model (VARIO Benzin-Trainer) in presence of wind gusts. Regarding modeling, a general 7 DOF (degrees of freedom) lagrangian model extracted from (these_avila) for the free flight mode of a helicopter in low speed is used. This system is underactuated and has 4 control inputs. We have developed a 3 DOF lagrangian model of a helicopter disturbed mounted on an experimental platform. The new disturbed model has a major challenge because the strong coupling between the control inputs and the system states, furthermore this model is underactuated. Different strategies of control are being proposed to control the 3 DOF of disturbed scale model helicopter. Simulation results show the effectiveness of backstepping control which stabilizes the system following a path and completely rejectes the disturbance. A simulation study of robustness is made for this control. For the 7 DOF general model, an equilibrium study of the helicopter is carried out when it is in hovering mode. Then, we developed the 7 DOF disturbed model of the helicopter by two types of wind gust, in vertical or lateral direction. In contrary to the 3 DOF model, the zero dynamics of the 7 DOF model is unstable. However, neglecting the small body forces and the wind gusts, we can obtain a minimum phase model. The latter allows us to use an approached and linearized control laws AFLC. To improve the robustness and precision of this linearized control AFLC, we develope a nonlinear observer with an extended and approached state AADRC based on an active disturbance rejection control. Several simulations on the complete model demonstrates that the addition of the observer compensates the small body forces and the wind gusts.
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Adnan Martini. Modélisation et commande de vol d'un hélicoptère drone soumis à une rafale de vent. Autre. Université Paul Verlaine - Metz, 2008. Français. ⟨NNT : 2008METZ015S⟩. ⟨tel-01752579⟩

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