三自由度直升机的无静差预测控制

Offset Free Model Predictive Control of 3 Dof Helicopter

直升机飞行系统属于典型的多输入、多输出系统,是一种较为复杂的被控对象。针对Googol三自由度直升机系统,通过分析其动力学特性,发现线性化模型在重力方向上存在误差,该误差会造成预测控制算法的静差;在设计无静差预测控制器的基础上进行闭环控制实验,同时结合实际情况对输入量加入硬约束。结果表明:在该控制器的作用下直升机能够稳态无静差地跟踪参考轨迹;并检验了扰动情况下控制器的控制效果,亦表明控制器具有良好的鲁棒性。

Helicopter flying system is a typical MIMO system, and it＇s complicated to control. After analyzing the Googol 3-DOF heli- copter system dynamics model, the paper points out that the existing model ignores the error of the system in .the direction of gravity which may cause steady-error of model predictive control. Combined with offset-free predictive control method, an offset-free model pre- dictive controller for this 3D-helicopter is designed. The close-loop simulation results show that the proposed controller is able to track the reference trajectory well with no steady-state error, and a controller test under disturbance also show that the proposed method has good robustness.