摘要
为研究三自由度直升机实验教学模型的运动特性,建立了小型三自由度直升机系统的数学模型,将直升机模型的运动分为俯仰轴、横侧轴、旋转轴三个部分,并分别建立动力学方程;针对该直升机模型的悬停控制问题,设计了基于Lyapunov稳定性理论的模型参考自适应控制系统,使得直升机姿态控制能达到期望的要求。仿真结果表明,设计的控制系统能同时满足动态和稳态性能指标,为利用该方法进行其他控制系统的设计提供了参考。
To study the dynamic characteristics of 3-DOF experimental teaching helicopter model,the mathematical model of small-sized 3-DOF helicopter system is set up. The movement of helicopter includes three parts of elevation axis,pitch axis and travel axis,and their dynamic functions are set up. To solve the hovering control problem,a modelreference adaptive control system is designed based on Lyapunov stability theory. Simulation results show the designed control system can satisfy the dynamic and steady properties,and provide a reference for designing other control systems.
出处
《仪表技术》
2016年第6期1-3,8,共4页
Instrumentation Technology
