基于非线性输出反馈的三自由度直升机控制  

Control of 3DOF Helicopter Based on Nonlinear Output Feedback

作　　者：周唯[1] 王晓东[1] ZHOU Wei;WANG Xiaodong(Faculty of Information Engineering & Automation,Kunming University of Science and Technology,Kunming 650500)

机构地区：[1]昆明理工大学信息工程与自动化学院,昆明650500

出　　处：《计算机与数字工程》2017年第5期917-922,993,共7页Computer & Digital Engineering

基　　金：云南省科技计划项目(编号:2015ZC005;2013DH034);云南省中青年学术和技术带头人后备人才培养计划项目(编号:2011CI017)资助

摘　　要：针对三自由度直升机系统的控制系统,提出了基于非线性输出反馈的处理方法。通过机理分析建立了三自由度直升飞机的数学模型,使用微分几何中仿射非线性局部同胚坐标变换理论把系统的俯仰轴和滚动轴两个通道精确线性化处理,得到解耦的、正则的线性系统。利用线性最优二次型(LQR)理论设计了线性化处理后跟踪控制器,同时对旋转轴设计了PID控制器。仿真和实验结果表明,论文使用的非线性反馈处理方法是有效的。For the control system of three degree of freedom helicopter system,a method based on nonlinear output feedback is proposed.Through the mechanism analysis,a mathematical model of three degree of freedom helicopter is established.Using the differential geometry of affine nonlinear local homeomorphism coordinate transformation theory the system of elevate axis and pitch axis two channel exact linearization processing,are decoupled,regular linear systems.Based on the linear quadratic regulator(LQR)theory,the tracking controller is designed for the linear system,and the PID controller is designed for the travel axis.Simulation and experimental results show that the nonlinear feedback processing method is effective in this paper.

关 键 词：非线性 输出反馈 精确线性化 线性二次型控制 PID控制 

分 类 号：V275.1[航空宇航科学与技术—飞行器设计]