输入饱和CE150直升机模型的复合非线性反馈控制

CE150 Helicopter Model with Input Saturation by Composite Nonlinear Feedback Control

针对带有输入饱和的直升机模型输出问题,提出了一种基于复合非线性反馈(composite nonlinear feedback,CNF)控制方法.为了解决输出调节问题,构建了一个观测器和一个输出反馈CNF控制器,其中CNF控制器包括线性控制律和非线性控制律两部分.该文首先提出了一个直升机模型的线性化状态方程,然后解输出方程,通过H_∞黎卡提微分方程得到反馈增益和观测器增益,构造出具有小阻尼比的线性控制部分和改善瞬态性能的非线性反馈控制部分.为了研究控制器的性能,分别在无外部干扰和有外部干扰两种情况下设计了控制器.仿真结果表明,复合非线性反馈控制器在时变信号和时不变信号下均缩小了跟踪时间和跟踪误差,提高了直升机系统的瞬态性能.

This paper introduces the composite nonlinear feedback （CNF） control method to solve the output regulation problems of helicopter model with input saturation. To solve the output regulation problem, an observer and an output feedback CNF control law are constructed. The CNF control law includes a linear control law and a nonlinear control law. A linear state equation of helicopter model and a reference signal is proposed and solved to obtain the feedback gain and the observer gain through the Riccati equation. A linear control part with a small damping ratio and a nonlinear feedback control section for improving transient performance are constructed. In order to study the performance of the controller, we have designed two controllers with or without external disturbances,respectively. Simulation results show that the CNF controller can reduce the pursuit time and pursuit error both for time-variant signals and for time invariant signals, featuring with high transient performance.