基于Krylov子空间的直升机降阶控制器设计

Design of controller reduction of helicopters based on Krylov subspace

目前直升机控制器的阶数往往较高,在保证闭环性能的情况下,如何尽可能地降低控制器阶数是亟待解决的问题。本文将一种基于Krylov子空间的控制器降阶方法应用于直升机模型的控制器,不仅设计出的降阶控制器能够完全符合闭环系统要求;而且该方法不需要解Lyapunov方程和使用工具箱,大大地减小了计算量。仿真结果也表明了此方法的有效性和实用性。

The order of helicopter controller is usually high. How to reduce the order of controller as much as possible and preserve the performance of closed - loop system is a problem which needs solving. In this paper, a Krylov subspace method is applied to H∞ controller reduction of UH - 60A helicopter. It is shown that the proposed method can not only match the desired closed - loop system responses, but also does not need solving any Lyapunov equations and using computational tools, greatly reducing computation work. The simulation results also show the effectiveness of the method.