三自由度直升机模型鲁棒控制器设计

Robust Controller Design for 3DOF Helicopter Model

鲁棒性是直升机的重要性能指标。针对三自由度直升机模型设计了基于线性二次型调节器(LQR)和模糊逻辑的鲁棒控制器。该控制器从控制率出发,首先采用LQR控制器来确保直升机模型的静态性能,然后设计积分切换函数与滑模切换控制分量来增强系统的抗干扰能力,接着采用模糊逻辑调整控制律以达到最佳效果。实验结果表明该策略具有较强的鲁棒性和很好的动态响应性能。

Robustness is an important indicator for helicopter.By means of LQR and fuzzy theory,this paper presents a novel robust controller for the helicopter model with three degree of freedom（3DOF）.Firstly,LQR controller is utilized to ensure the static property.And then,the integral sliding surface and a new switching logic are adopted to enhance the robustness to disturbance.Finally,the control law is adjusted via fuzzy logic so as to achieve the better performance.It is illustrated from experiment results that the proposed methodology is of better robustness and dynamic properties.