直升机的TSK模糊控制  

TSK Fuzzy Control of Helicopter

作　　者：金宗华[1] 李远昌 姜根泽 

机构地区：[1]华东理工大学信息学院,上海200237 [2]釜庆大学电子系

出　　处：《控制工程》2007年第1期49-52,91,共5页Control Engineering of China

摘　　要：针对直升机动力学为非线性的特点,且存在不确定因数和状态变化,利用线性控制很难得到好的控制结果,提出利用TSK(Takagi-Sugeno-Kang)模糊系统控制小模型直升机。所设计的TSK模糊控制器是一个基于TSK模糊模型的非线性控制器,能保证闭环控制系统的稳定性。直升机数学模型中线性部分设计状态反馈控制器非线性部分先求TSK模糊模型,然后设计TSK模糊控制器。仿真和实验结果表明,所设计的TSK模糊控制器比线性控制器对直升机控制具有良好的动态响应和稳定性,是一种非常有效的控制方法。The TSK fuzzy system is applied to a small model helicopter. Helicopteris characterized with nonlinear dynamics including uncertainty of modeling and variation, and is not easy to track by using linear control. TSK fuzzy controller based onTSK fuzzy model with nonlinear controller assures the stability of closed loop system. TSK fuzzy model is obtained by the mathematical nonlinear part of helicopter, then TSK fuzzy controller is designed. Comparison between TSK fuzzy controller and linear controller reveal that TSK fuzzy controller is practically feasible for controlling helicopter with nonlinear system.

关 键 词：直升机 TSK模糊系统 非线性系统 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]