摘要
文章针对无人直升机姿态控制的复杂性,基于全局渐近稳定SDRE(状态相关黎卡提方程)设计无人直升机仿射非线性模型来完成全包络飞行姿态控制律以实现姿态控制;首先,将单旋翼带尾桨式微型直升机的仿射非线性数学模型处理成状态相关系数矩阵(SDC)形式;然后运用李亚普诺夫稳定性理论推导出实现全局渐近稳定SDRE控制的解析条件,并针对模型中的非线性干扰项,通过前馈补偿技术予以在线实时兑消,增强抗干扰性能;最后设计了面向无人直升机仿射非线性模型,完成全包络飞行姿态控制律,解决了SDRE适用范围窄、局部渐近稳定的问题,并实现了姿态控制仿真验证;从仿真结果来看,所设计的姿态控制器性能良好,并对其他相似非线性系统的控制有一定的指导意义。
Acoording to the complexity of attitude control, the affine nonlinear mathematical model is designed to research full--envelope flight attitude control law for attitude control based on SDRE. The affine nonlinear mathematical model of single rotor with tail rotor micro helicopter transforms the form of a state of the correlation matrix （SDC）. Lyapunov stability theory is used to deduce parsing conditions of achieving globally asymptotically stable SDRE control. The feed-- forward compensation technology is online in real time against the nonlinear interference terms in the model to enhance anti--jamming performance. Full--envelope flight attitude control law of unmanned helicopter affine nonlinear model is designed to solve problems of narrow range and locally asymptotically stable of SDER for attitude control, and verified by simulation. The simulation results show that the design of attitude controller performance is good, and guide analogous nonlinear systems.
出处
《计算机测量与控制》
北大核心
2013年第9期2480-2482,2485,共4页
Computer Measurement &Control
基金
中央高校基本科研业务费(ZXH2012D010)
关键词
状态相关黎卡提方程
姿态控制
全局渐近稳定
前馈补偿
state dependent riccati equation （SDRE）
attitude control
global asymptotic stability
feed--forward compensation
