期刊文献+
任意字段
题名或关键词
题名
关键词
文摘
作者
第一作者
机构
刊名
分类号
参考文献
作者简介
基金资助
栏目信息

基于LPV动态逆的D稳定H_2/H_∞混合鲁棒控制无人直升机巡航

D-Stable H_2/H_∞ Mixed Cruise Control of Unmanned Helicopter Based on LPV Dynamic Inversion
下载PDF
导出
摘要 将无人直升机不可测的旋翼动态视为准稳态构造线性转动动态的参数时变动态逆,引入相位补偿器解决前向通道相位滞后问题.针对动态逆方法对模型不确定性很敏感的问题,应用了H_∞鲁棒控制方法.加入H_2混合控制以改善控制性能,并加入区域稳定方法实现过渡态的控制指标.飞行试验验证了该方法的有效性. The non-measurable rotor flapping motion of helicopter was regarded as a quasi-steady to structure dynamic nonlinear inversion of rotational model.A phase conpensator was employed to solve the phase lag problem of the forward channel.According to the sensitiveness of the model inversion to model uncertainty,an H∞robust control method was implemented.Then,an H2 performance index was mixed with the H∞ control to improve control performance.In addition,region stable control was introduced to realize the control index of transition state.The actual flight experiments have confirmed the effectiveness of this method.
作者 孙文达 李平 方舟
机构地区 浙江大学控制科学与工程学院 浙江大学航空航天学院
出处 《上海交通大学学报》 EI CAS CSCD 北大核心 2015年第11期1647-1654,共8页 Journal of Shanghai Jiaotong University
基金 国家青年科学基金(61004066) 中央高校基本科研业务费专项资金(2011FZA4031)资助项目
关键词 微小型无人直升机 非线性动态逆 线性参数时变 区域稳定 H∞鲁棒控制 H2控制 miniature unmanned helicopter（MUH） dynamic nonlinear inversion（DNI） linear parameter varying（LPV） region stable（D-stable） H∞robust control H2control
分类号 TP273 [自动化与计算机技术—检测技术与自动化装置] V249.1 [航空宇航科学与技术—飞行器设计]
  • 相关文献

参考文献17

  • 1曾丽兰,王道波,郭才根,黄向华.无人驾驶直升机飞行控制技术综述[J].控制与决策,2006,21(4):361-366. 被引量：35
  • 2Gao H, Chen T. Net work based H= output tracking control[J]. IEEE Trans on Automatic Control, 2008. 53(3): 655-667.
  • 3Prempain E, Postlethwaite I. Static H loop shaping control of a fly-by-wire helicopter[J]. Automatica, 2005, 41(9): 1517-1528.
  • 4ShinJ, Nonami K, Fujiwara D, et al. Model-based optimal attitude and positioning control of small-scale unmanned helicopter[J]. Robotica. 2005, 23: 51-63.
  • 5Kim H, Dharmayanda H, Kang H, et at. Parameter identification and design of a robust attitude controller using H methodology for the Raptor E620 smallscale helicopter[J]. InternationalJournal of Control, Automation, and Systems, 2012, 100): 88-1Ol.
  • 6Zeng S, ZhuJ. Adaptive compensated dynamic inversion control for a helicopter with approximate mathematical model[C]// Proceedings of theJoint International Conference on Computational Intelligence for Modelling, Control and Automation and on Intelligent Agents, Web Technologies and Internet Commerce. Sydney, Australia: IEEE, 2006 :0-7695-2731-01/06.
  • 7Simplicio r. Pavel M D, Kampen van E, et al. An acceleration measurements-based approach for helicopter nonlinear flight control using incremental nonlinear dynamic inversion[]]. Control Engineering Practice, 2013, 21(8): 1065-1077.
  • 8Acquatella P. Falkena W, Van Kampen EJ, et al. Robust nonlinear spacecraft attitude control using incremental nonlinear dynamic inversion[C]// AIAA Guidance, Navigation, and Control Conference. Minneapolis, Minnesota: AIAA, 2012: 13-16.
  • 9Chen H B, Zhang S G. Robust dynamic inversion flight control law design[C]//Proceedings of the Second International Symposium on Systems and Control in Aerospace and Astronautics. Shenzhcn , China: IEEE, 2008:1-4244-2386-6/08.
  • 10Smit M Z, Craig I K. Robust flight controller design using H-infinity loop-shaping and dynamic inversion techniques[C]// AIAA Guidance, Navigation. and Control Conference and Exhibit. Boston. MA. USA: AlAA. 1998:305-313.

二级参考文献56

  • 1段海滨,王道波,朱家强,黄向华.蚁群算法理论及应用研究的进展[J].控制与决策,2004,19(12):1321-1326. 被引量：211
  • 2曾丽兰,王道波,樊春霞.基于模糊PID的无人直升机解耦控制研究[J].应用科学学报,2004,22(4):498-502. 被引量：6
  • 3曾丽兰,王道波,郭才根,黄向华.无人驾驶直升机飞行控制技术综述[J].控制与决策,2006,21(4):361-366. 被引量：35
  • 4郭才根.无人驾驶直升机的应用与现状[R].南京:南京航空航天大学,1996
  • 5郭才根,张延琪,赵红宇.CL-227无人直升机的发展历程[A].第一届《无人机》杂志理事会第一次会议暨首届无人机发展论坛[C].北京,2004
  • 6Landis K H,Davis J M,Dabundo C,et al.Advanced Flight Control Technology Achievement at Boeing Helicopter[J].Int J Control,1994,59 (1):263-290.
  • 7ADS-33E-PRF.Aeronautical Design Standard Performance Specification Handling Qualities Requirements for Military Rotorcraft[S].2000.
  • 8Kim B S,Calise A J.Nonlinear Flight Control Using Neural Networks[J].AIAA J of Guidance,Control and Dynamics,1997,20(1):26-33
  • 9Silvia Ferrari.Full-envelope Flight Control Using an Adaptive Critic Neural Network[Z].Cambridge:FAA/NASA Joint University Program on Air Transportation,2001.
  • 10Kadmiry B,Bergsten P,Driankov D.Autonomous Helicopter Control Using Fuzzy Gain Scheduling[A].Proc of the 2001 IEEE Int Conf on Robotics and Automation[C].Seoul,2001:2980-2985.

共引文献39

上海交通大学学报
2015年 第11期

相关作者

内容加载中请稍等...

相关机构

内容加载中请稍等...

相关主题

内容加载中请稍等...

浏览历史

内容加载中请稍等...
;
使用帮助 返回顶部