极点配置的H_∞技术在直升机控制器设计中的应用研究

APPLICATION DEVELOPMENT FOR HELICOPTER CONTROLLER DESIGN USING H-INFINITY TECHNIQUE WITH POLE PLACEMENT CONSTRAINTS

极点配置的 H∞ 设计方法不但能满足系统的 H∞ 性能要求 ,而且能使闭环极点配置在希望的范围内 ,因而使系统具有满意的阻尼比 ,同时也避免了过快的控制器动态对设备产生的冲击。针对直升机 H∞ 控制器设计中遇到的问题 ,如控制器结构的选择、加权矩阵的选择以及如何考虑不确定性等进行了研究。通过对 CH-4 7直升机设计结果的数值仿真 ,表明所设计的系统达到了 ADS-33水平

The H infinity technique with pole placement constraints is used to design CH\|47 helicopter controller. The benefits from this are that the system not only has satisfied H\|infinity requirement but also can force the closed\|loop poles into a suitable sub\|region of left\|half plan. It avoids over fast dynamic responses for digital implementation and has satisfactory damping. In this design, the following problems are considered: How to choose controller structure? How to design the weighting functions? Should uncertainty be defined in input or output? There are answers in the paper. The simulation results show that the system designed satisfies ADS\|33 requirement and robustness stability.