基于MOGA算法的H_∞回路成形直升机姿态控制器设计  

Design of helicopter attitude controller of H_∞ loop-shaping method based on MOGA algorithm

作　　者：王晓燕[1] 陈晓[1] 

机构地区：[1]西安建筑科技大学机电工程学院,西安710055

出　　处：《控制与决策》2016年第1期59-65,共7页Control and Decision

基　　金：陕西省教育厅自然科学研究项目(14JK1405)

摘　　要：提出一种改进的显模型跟踪H_∞回路成形控制方法,利用H_∞回路成形算法补偿显模型跟踪算法中前馈模型逆的不确定性.针对H_∞回路成形控制算法中权重函数选取的盲目性,利用多目标遗传算法,结合改进的小生境淘汰技术对权重函数进行寻优,以提高设计效率和准确性.基于所提出的方法设计直升机的内回路显模型跟踪H_∞回路成形姿态控制系统,能够提高系统的鲁棒性.The explicit model-following loop-shaping（EMFLS） control method is improved by using the loop-shaping control algorithm to compensate the uncertainty of inverse model. The weighting functions of the loop-shaping controller are difficult to choose. In accordance with this problem, the multi-objective genetic algorithm（MOGA） combined with the niche elimination technique is used to search the optimal parameters of the weighting functions so that the efficiency and accuracy of the design are improved. The attitude control system of helicopter is designed based on the proposed method,and the results show its good dynamic performance and robustness.

关 键 词：直升机 显模型跟踪 H∞回路成形 多目标遗传算法 小生境 

分 类 号：TP319.9[自动化与计算机技术—计算机软件与理论] V249.1[自动化与计算机技术—计算机科学与技术]