基于GA辨识模型的小型无人直升机航向姿态控制器的设计  

GA Identification Model-based Controller Design for Yaw Channel of Small-scale Helicopter

作　　者：赵志刚[1] 苟向锋[1] 王赓[2] 吕恬生 

机构地区：[1]兰州交通大学机电工程学院,甘肃兰州730070 [2]上海交通大学电子信息与电气工程学院,上海200030 [3]上海交通大学机械与动力工程学院,上海200030

出　　处：《兰州交通大学学报》2012年第4期104-107,共4页Journal of Lanzhou Jiaotong University

基　　金：国家自然科学基金(60475039)

摘　　要：分析了小型无人直升机的航向模型结构,用一种基于遗传算法(GA)的方法辨识得到模型结构和参数.根据所建模型设计了一款航向姿态控制器,整定了该类控制器参数.最后基于安全性和方便性考虑制作了一款地面飞行实验台架,在台架上利用所设计的控制器控制小型直升机的航向姿态,获得了较好的控制效果.The model structure of small-scale helicopter＇s yaw channel is analyzed and the transfer characteristics model of robot helicopter is identified by using a GA-based identification method. Based on the proposed model, a kind of gesture controller is designed and the controller paramters are regulated. In order to take safety and convernience into account, a ground stand has been designed and produced. Whereafter the helicopter is fixed on the stand and is controlled to hovering using the resulted controller. The results reveal that the control effect is very good.

关 键 词：小型无人直升机 辨识模型 参数整定 姿态控制器 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]