摘要
无人直升机控制系统是一个易受环境干扰的、各通道相互耦合的非线性系统.为了实现无人直升机能在不同环境下自主飞行,需要设计抗干扰能力强的控制器;采用系统辨识的方法得到直升机横向通道和纵向通道姿态环路的线性系统模型;根据线性最优二次型理论,对直升机横向通道和纵向通道的姿态环路设计了LQR最优控制器,使用MATLAB仿真选取最优控制器参数后,在ALIGN 700N直升机上进行了实际飞行试验,仿真和飞行试验表明,采用LQR控制技术设计的无人直升机姿态控制器具有较强的鲁棒性和实用性.
Unmanned helicopter control system is a nonlinear system that is susceptible to environment interference and coupling each channel.An anti-interference controller is needed to realize unmanned helicopter autonomous fly in different circumstances.The linear system model of helicopter＇ s transverse and vertical channel is obtained by using system identification method.Based on linear quadratic regulator theory,design a LQR optimal controller for attitude of helicopter＇ s transverse and vertical channel.Have done lots of flight tests in ALIGN 700N helicopter after select the optimal controller parameters in MATLAB software.Simulation and flight tests show that LQR control technology designed unmanned helicopter attitude controller has strong robustness and practicality.
出处
《计算机测量与控制》
2015年第1期106-109,共4页
Computer Measurement &Control
基金
国家重点基础研究发展计划(973计划)资助(2014CB845301/2/3)
2013年度开放基金(1214)
国家自然科学基金资助项目(61174053)
