基于虚拟参考反馈的无人旋翼机姿态控制

Attitude Control of Unmanned Gyroplane Based on Virtual Reference Feedback Control

考虑旋翼转速可变,建立了自转旋翼机的数学模型,并针对其姿态控制回路,基于输入-输出观测数据,提出了一种采用虚拟参考反馈校正控制的无人旋翼机姿态控制方法。通过对由一簇采集数据组成的范数代价函数的优化,直接对控制器进行设计,避免了复杂的旋翼机系统辨识建模过程。针对控制设计中的优化问题,运用于分离性原理,推导出迭代可分离的非线性最小二乘辨识法。该方法可降低收敛于局部最小的可能性,得到设计准则中参数矢量估计的全局最优解。通过仿真实验验证了所提方法的有效性。

In this paper,considering the variable rotating speed of gyroplane,the mathematical model of gyroplane is established.A new attitude control method with virtual reference feedback tuning method is presented based on input/output measurements in a linear setting,minimizing a control cost of the norm type by using a set of datas collected from the plant.No model identification of the plant is needed.As to the optimization problem in designing controllers process,an iterative separable least-squares identification method is proposed by means of the separable principle,which not only searches for the global optimum of the design criterion about the parameter vectors,but also reduce the possibility of convergence to a local minimum.Finally the model simulation is provided to demonstrate the effectiveness of the proposed approach.