带输入饱和的直升机信息融合解耦控制算法  

Decoupling Control Algorithm of Helicopter with Input Saturation Based on Information Fusion

作　　者：胡洲[1] 王志胜[1] 王从庆[1] 

机构地区：[1]南京航空航天大学自动化学院,江苏南京210016

出　　处：《航空学报》2014年第5期1394-1403,共10页Acta Aeronautica et Astronautica Sinica

基　　金：国家自然科学基金(60874037)~~

摘　　要：针对带输入饱和的直升机解耦控制问题,提出了一种改进的信息融合解耦控制算法,通过融合主通道和相应耦合通道期望输出和控制能量的软约束信息,以及系统状态方程和输出方程的硬约束信息,获得二次型性能指标下解耦控制律的最优估计,使直升机的内回路控制具有良好的动态特性和解耦性能。通过控制能量软约束信息的自适应调节,使求取的控制量满足输入饱和限制要求,避免了因输入饱和导致的解耦性能变差和驱动器过载问题。提出的信息融合控制算法基于被控对象的离散模型实现,容易应用于工程实际中。仿真结果表明了该算法的有效性。For the decoupling control of helicopters with input saturation,an improved information fusion decoupling control algorithm is proposed.By fusing the soft constraints information of the desired output and the control energy of the main channel and the relevant coupling channels,with the hard constraints information supplied by the system state equation and the output equation,the optimal estimation of the decoupling control rule under the quadratic performance index can be obtained,and the dynamic characteristics and decoupling performance of the inner control loop of the helicopters can be improved.By adaptively adjusting the soft constraints information of the control energy,the control variables satisfied the limitation requirements of input saturation,and avoid the decoupling performance deterioration and the driver overload caused by input saturation.The proposed information fusion control algorithm based on discrete model of the controlled system,and could be easily applied to engineering practice.The simulation results demonstrate the effectiveness of the proposed method.

关 键 词：信息融合控制 直升机 线性离散系统 解耦控制 输入饱和 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计] TP13[自动化与计算机技术—控制理论与控制工程]