基于迭代LMI的直升机协调转弯控制律设计  

ILMI-Based Optimal Control Law Design for Helicopter Coordinated Turns

作　　者：白蒲江[1] 王新民[1] 余翔[1] 李俨[1] 

机构地区：[1]西北工业大学自动化学院,陕西西安710072

出　　处：《测控技术》2008年第7期86-88,共3页Measurement & Control Technology

摘　　要：线性二次型控制是一类以线性系统为被控对象,以二次型泛函指标为性能指标的最优控制技术。由于标准最优控制算法具有一定的保守性,在运用线性矩阵不等式的控制理论的基础上,提出了一种迭代算法用于反馈阵的求解。以某型直升机为例,针对协调转弯侧滑过大问题,设计了最优控制与经典PID相结合的控制律结构。然后对选取的直升机典型状态进行了数字仿真。仿真结果表明,通过迭代线性矩阵不等式(ILMI)算法设计的协调转弯控制律,很好地消除了侧滑,取得了满意的控制效果。The linear-quadratic control is a type of optimal control problem which takes the linear system as the control object, with linear-quadratic function as the optimal control index. Because of conservative feature of standard linear-quadratic regulator, an iterative linear matrix inequality （ILMI） approach is proposed to obtain the feedback matrix, Taking certain helicopter as example, the controller structure of linear-quadratic （LQ） optimal control and PID is designed to solve the sideslips of coordinated turns. According to new controller structure, the digital simulation is carried out based on the typical helicopter states. It is demonstrated that the helicopter sideslips are eliminated well with the ILMI-based optimal control law in the maneuver of the coordinated turn.

关 键 词：线性二次型最优控制 协调转弯 侧滑 迭代线性矩阵不等式 

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[自动化与计算机技术—控制科学与工程]