平台上的无人直升机非线性预测姿态控制

Nonlinear Predictive Attitude Control of an Unmanned Helicopter on the Test Bench

针对在平台上的无人直升机姿态控制,设计了1个非线性预测姿态控制器,该预测控制器具有解析解不需要在线优化,通过查表的方式可以方便地得到满足设计要求的控制器参数。讨论了当输入饱和时的处理方法,通过仿真比较了当输入出现饱和时剪切法和方向保持法对系统性能的影响。最后,将非线性预测控制器和PID控制器的进行了比较,仿真结果说明采用该控制器系统响应比PID控制快,并且可以去除通道耦合引起的过大的超调量。

A nonlinear predictive controller is presented to cope with the problem of the attitude control of an unmanned helicopter on the test bench.The on-line optimization is not required because the controller has an analytical form,and the controller parameters can be convenient to obtain by looking up tables.The methods to deal with the input saturation are discussed,and the impact on system performance of the clipping method and direction preservation method are compared when the input saturation arises.Finally,the nonlinear predictive controller is compared with PID controller,the simulation results show that the settle time of the proposed controller is shorter than the PID controller and the overshoot also can be eliminated by it.