基于实时仿真平台直升机系统控制策略研究

Control Strategy Research of Helicopter System Based on Real-time Simulation Plant

直升机飞行控制系统属于典型的多输入—多输出系统,本身具有非线性特性,是控制系统工程中较为复杂的被控对象,设计有效的低成本的直升机的飞行控制系统日益受到重视。本文设计了一种新型的直升机实时仿真系统,利用加拿大Quanser公司开发的三自由度运动仿真平台,基于Matlab的实时工作间进行了飞行控制系统的设计,通过代码自动生成环境产生实时仿真代码,进行仿真实验。本文介绍了系统的组成,建立了系统的数学模型,设计了系统的控制器,并对最优控制策略进行了研究。控制器在传统PID控制方案的基础上采用LQR控制方案。最后经仿真验证可知,LQR控制器可以实现最优控制,该系统控制效果较好。

Helicopteter System is a classic muhi-inputs and multi outputs syetem,which is non - liner and complicated, and more concerned to desig an effective and low cost helicopteter system, In this paper real - time simulation helicopteter system is described, it based on Canada Quanser containing practicality real - time simulation plant. The paper introduced the system＇s component, build the mathematics model, designed the controller with optimal control strategy, leased on the traditional PID control, the LQR control is used to design the controller in this paper. The experiment results verified that the LQR controller is feasible to the system and can access to optimal control.