基于LPV动态逆的D稳定H_2/H_∞混合鲁棒控制无人直升机巡航  

D-Stable H_2/H_∞ Mixed Cruise Control of Unmanned Helicopter Based on LPV Dynamic Inversion

作　　者：孙文达[1] 李平[1,2] 方舟[2] 

机构地区：[1]浙江大学控制科学与工程学院,杭州310027 [2]浙江大学航空航天学院,杭州310027

出　　处：《上海交通大学学报》2015年第11期1647-1654,共8页Journal of Shanghai Jiaotong University

基　　金：国家青年科学基金(61004066);中央高校基本科研业务费专项资金(2011FZA4031)资助项目

摘　　要：将无人直升机不可测的旋翼动态视为准稳态构造线性转动动态的参数时变动态逆,引入相位补偿器解决前向通道相位滞后问题.针对动态逆方法对模型不确定性很敏感的问题,应用了H_∞鲁棒控制方法.加入H_2混合控制以改善控制性能,并加入区域稳定方法实现过渡态的控制指标.飞行试验验证了该方法的有效性.The non-measurable rotor flapping motion of helicopter was regarded as a quasi-steady to structure dynamic nonlinear inversion of rotational model.A phase conpensator was employed to solve the phase lag problem of the forward channel.According to the sensitiveness of the model inversion to model uncertainty,an H∞robust control method was implemented.Then,an H2 performance index was mixed with the H∞ control to improve control performance.In addition,region stable control was introduced to realize the control index of transition state.The actual flight experiments have confirmed the effectiveness of this method.

关 键 词：微小型无人直升机 非线性动态逆 线性参数时变 区域稳定 H∞鲁棒控制 H2控制 

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]