基于LMI直升机奇异系统鲁棒稳定控制器的设计  

LMI-Based Robust Stability Controller Design for Helicopter Singular Systems

作　　者：陈亮[1] 孙楠 刘克平[1] 

机构地区：[1]长春工业大学电气与电子工程学院,长春130012 [2]深圳机场出入境边防检查站,深圳518128

出　　处：《吉林大学学报（信息科学版）》2009年第6期628-633,共6页Journal of Jilin University（Information Science Edition）

基　　金：吉林省杰出青年基金资助项目(20060125);教育部留学回国人员科研启动基金资助项目(20070110)

摘　　要：针对三自由度直升机奇异系统鲁棒稳定性分析复杂,且难以设计稳定的控制器问题,基于状态空间方法建立了三自由度直升机模型的线性动力学系统模型。利用线性矩阵不等式(LMI:Linear Matrix Inequality)推导并证明了奇异系统鲁棒渐进稳定的条件,提出了一类奇异系统鲁棒稳定状态反馈控制率的设计方法,并绘出三自由度直升机系统的状态响应曲线。实验结果表明,该控制器比LQR(Linear Quadratic Regulator)控制器具有更好的稳定性和鲁棒性。The robust stability analysis of three degrees of freedom helicopter singular systems is complex and difficult to design. Based on state-space theory, the linear dynamics model of three degrees of freedom helicopter was constructed. The conclusions that three degrees of freedom helicopter system is no feasible solution and nonrobust stability are obtained. The conditions for robust asymptotic stability of singular system was derived and proved using LMI （ Linear Matrix Inequalities）. The ruboust stability of state feedback control rate is found. The three degrees of freedom helicopter system state response curves, indicate that designed controller has better stability and robustness than the LQR （Linear Quadratic Regulator） controller.

关 键 词：三自由度直升机系统 线性动力学模型 线性矩阵不等式 鲁棒渐进稳定 稳定性和鲁棒性 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]