直升机模型在小扰动参数情形下的滑模控制  

Sliding Mode Control of a Helicopter Mathematical Model with Small Perturbation

作　　者：李同兴 谭晓玉 LI Tong-xing;TAN Xiao-yu(School of Mathematics and Statistics,Taishan University,Taian Shandong 271000,China)

机构地区：[1]泰山学院数学与统计学院,山东泰安271000

出　　处：《淮阴师范学院学报（自然科学版）》2018年第4期289-294,共6页Journal of Huaiyin Teachers College;Natural Science Edition

基　　金：国家自然科学基金资助项目(61873179);山东省自然科学基金资助项目(ZR2018MF019)

摘　　要：研究更加具有物理意义的带有扰动的直升机模型,首先建立带有扰动的系统模型在对系统的分析过程中具体给出滑动模态的设计,验证了滑动模态可以使得系统达到稳定从而最终得到带有扰动的直升机模型的控制器.最后利用滑膜控制策略给出了数值仿真,仿真示例验证了滑膜控制器的有效性.Sliding mode control is essentially a kind of special control for discontinuous systems,also called variable structure control.In this paper,we study a more physical helicopter model with perturbation.First,a system model with disturbance is established and we prove that sliding mode can make the system stable,thus the design of sliding mode is given in the analysis process of the system.Ultimately,the controller of the helicopter model is obtained.In the last part of the paper,the numerical simulation is given by using the sliding mode control strategy and he simulation example verifies the effectiveness of the sliding mode controller.

关 键 词：滑模控制 耦合性 链式法则 切换函数 

分 类 号：O232[理学—运筹学与控制论]