摘要
直升机作为一种特殊的飞行器,其非线性运动特性强,稳定性差,各通道的耦合性严重。针对直升机的特点,将非线性反馈线性化的方法运用到直升机的控制中,通过该方法得到解耦的直升机伪线性模型,采用经典的LQR线性最优二次型设计方法设计状态反馈控制器。仿真结果表明,设计的控制系统具有良好的性能,满足控制要求。
As a special aircraft,helicopter has serious non-linear motion characteristics,poor sta-bility,each channel coupling serious.For those characteristics,feedback linearization method ap-plied to the control of the helicopter.So we obtained decoupled pseudo-linear helicopter model,then using the classic LQR linear quadratic optimal method design state feedback controller.Simulation results showed that the control system has good performance and meet the performance requirements.
出处
《直升机技术》
2013年第4期7-9,23,共4页
Helicopter Technique
关键词
反馈线性化
伪线性模型
LQR
无人直升机
feedback linearization
pseudo-linear model
LQR
unmanned helicopter
