基于GPI的三自由度直升机系统姿态控制研究  

Attitude Control of 3-DOF Helicopter System Based on Algorithm of GPI

作　　者：王玲玲 毋飞龙 WANG Lingling;WU Feilong(Institute of Coast Defence Arm,Naval Aviation University,Yantai 264000,China;The No.91213 rd Troop of Navy,Yantai 264000,China)

机构地区：[1]海军航空大学岸防兵学院,山东烟台264000 [2]海军91213部队,山东烟台264000

出　　处：《兵器装备工程学报》2021年第12期254-260,共7页Journal of Ordnance Equipment Engineering

摘　　要：针对三自由度直升机姿态控制常规PID算法中微分项对噪声信号的敏感引起算法适应较差,在积分重构思想基础上,以控制量的积分代替被控量的误差微分估计设计控制器,通过主导极点的思想匹配控制器参数。最后,在直升机俯仰通道、横侧通道、旋转通道以及横侧旋转联立通道中实现控制器的仿真设计,并通过仿真结果证实,该控制器可使被控对象在恶劣噪声环境下实现姿态控制,满足指标要求,且控制器参数具有较高的适应性。In the attitude control of helicopter with three degree of freedom,the differential term in the conventional PID algorithm is sensitive to the noise signal,which leads to the poor adaptability of different environments.Based on the idea of integral reconstruction,the controller was designed by using the integral of the control variable instead of the error differential estimation of the controlled variable,and the parameters of the controller were matched by the idea of dominant poles.The simulation design of the controller was implemented in the pitch channel,lateral channel,rotation channel and lateral combined rotation channel in 3DOF helicopter.The simulation results show that the controller can realize the attitude control of the controlled object in the harsh noise environment,meet the index requirements,and the controller parameters have high adaptability.

关 键 词：三自由度直升机 积分重构 误差微分 估计 广义比例积分 

分 类 号：TP15[自动化与计算机技术—控制理论与控制工程]