基于增广LQR的直升机飞行控制优化设计  

Optimal design of helicopter flight control based on augmented LQR

作　　者：黄凯璇 周旭[1] 任斌武 韦康瑞 招启军[1] HUANG Kaixuan;ZHOU Xu;REN Binwu;WEI Kangrui;ZHAO Qijun(National Key Laboratory of Helicopter Aeromechanics,NUAA,Nanjing 210016,China)

机构地区：[1]南京航空航天大学直升机动力学全国重点实验室,江苏南京210016

出　　处：《飞行力学》2024年第3期12-18,共7页Flight Dynamics

基　　金：国家自然科学基金资助(12032012);江苏高校优势学科建设工程资助项目。

摘　　要：为提升直升机的稳定性,抑制通道间的强耦合现象,采用先增稳后控制的思路设计增稳及飞行控制器。在增稳方面,建立基于粒子群优化的LQR方法,通过优化权值矩阵参数使计算所得的反馈矩阵逼近经典增稳控制的反馈矩阵,提高系统稳定性。在飞行控制器设计方面,搭建速度控制/轨迹控制内外回路。结果表明,将增广LQR方法与模型跟踪控制相结合,不仅通过引入误差信号消除了对跟踪信号的稳态误差,同时由于设计了响应品质优良的模型,实现了通道间的解耦与内回路的速度控制。基于多通道PID构建外回路的轨迹跟踪控制,在保证优异的解耦特性的同时实现了对复杂轨迹的跟踪。In order to improve the stability of helicopter and suppress the strong coupling phenomenon between channels, the idea of increasing stability before control is adopted to design the stabilizing and flight controller. In the aspect of stability augmentation, LQR method based on particle swarm optimization is established. By optimizing the parameters of weight matrix, the calculated feedback matrix is close to that of classical stability augmentation control, and the stability of the system is improved. In the aspect of flight controller design, the inner and outer loops of speed control/trajectory control are built. The results show that the combination of augmented LQR(ALQR) method and model tracking control not only eliminates the steady-state error of tracking signal by introducing error signal, but also realizes the decoupling between channels and the speed control of inner loop because of designing a model with excellent response quality. A trajectory tracking control of the outer loop based on multi-channel PID is constructed, which realizes the tracking of complex trajectories while ensuring excellent decoupling characteristics.

关 键 词：增稳控制 粒子群优化 增广LQR 模型跟踪 

分 类 号：V275.1[航空宇航科学与技术—飞行器设计] V249.1