无人直升机QFT控制及基于RTX的半实物仿真

QFT Control for Unmanned Helicopter and Hard-in-the-Loop Simulation System Based on RTX

以无人直升机为研究对象,在所针对的飞行状态下,为改善其动态性能,提出了基于EA(特征结构配置法)和QFT(定量反馈理论)的内外回路结构的控制策略,EA控制器进行横、纵向间的解耦,QFT控制器可以使系统达到期望性能指标。为验证飞控系统的实时性和有效性,将设计的飞控系统进行基于RTX和LabWindows/CVI的半实物仿真。半实物仿真结果表明,控制器具有理想的控制效果。

Taking the unmanned helicopter as the studied plant,an inner/outer loop control structure based on eigenstructure assignment and quantitative feedback theory is proposed to improve the dynamic performance of the system in a typical flight status. The EA controller decouples the lateral and the longitudinal dynamical features of the helicopter,while the QFT controller guarantees the system achieve the desired performance. To verify the real-time performance and effectiveness of the flight control system,Hardware-in-the-loop simulation for the designed system is made based on RTX real- time system platform and LabWindows/CVI software. The Hardware-in-the-loop simulation results indicate that the flight control system of the unmanned helicopter has an ideal performance.