摘要
三自由度飞行器模型系统是一个典型的阶次高、变量多、不稳定、非线性和强耦合的控制系统.本文首先分析了三自由度飞行器控制系统的数学模型,并针对该系统设计了线性二次型调节器(LQR),最后重点分析了加权矩阵Q和R对系统动态特性的影响规律,仿真结果表明LQR控制方法是有效性的,在Q与R选择合理的条件下能使系统的控制效果达到最优。
The 3 DOF helicopter model is a typical control system characterized by high level, multivariable, instability nonlinearity and tight coupling. This paper analyzes the mathematical model of the control system, designs the controller based on LQR. The relationship is found out between the system response performances and the matrix Q and R. The simulation results show that the LQR controller is effective and the system can access to optimal control in the condition of reasonable Q and R.
出处
《自动化技术与应用》
2016年第8期33-36,共4页
Techniques of Automation and Applications
