2DOF直升机L1自适应控制系统设计与仿真分析

Design and Simulation Analysis of L1 Adaptive Control for 2DOF Helicopter Control System

在实际工程中,飞行器控制系统受不确定非线性因素影响很大,线性系统难以满足使用需求,各种非线性的控制技术也逐步被引进到了飞行控制系统中。构建二自由度直升机(2DOF)俯仰轴与偏航轴控制系统,针对模型参考自适应控制器(MRAC)在复杂飞行条件下高自适应增益环境时易出现高频振荡的不足,引入L1自适应控制器。测试两类控制器在面对复杂高强度干扰时的性能。仿真结果表明,L1控制器可以解决了高自适应增益时MRAC高频振荡现象。

In practical engineering,the aircraft control system is highly affected by the uncertain nonlinear factors,Linear system is difficult to meet the demand of use,all kinds of nonlinear control technology have gradually been introduced to the flight control system.This thesis taking the 2DOF helicopter simulation platform as the research subject,model pitching axis and yaw axis control system is built at the same time.In view of that MARC controller is easy to appear the shortage of the high frequency oscillation under the high adaptive gain environment,L1 adaptive controller is introduced.The performance of two types of controller is tested in the face of the complex high strength interference.The simulation results show that L1 controller has solved the MARC high frequency oscillation phenomenon under the high adaptive gain environment.