摘要
基于非线性分散控制理论,设计了X-cell50微型直升机垂直飞行的姿态稳定非线性控制系统。该控制系统的设计不依赖对象精确数学模型,控制器结构简单易于实现,所包含的积分环节补偿了系统内部的各种未知因素以及外部扰动。仿真结果与变结构滑模控制相比,不仅避免了滑模控制存在的输出稳态误差和控制信号的抖振现象,而且当直升机存在外部干扰和内部参数变化时对其姿态稳定性能的控制具有很强的鲁棒性。
Based on nonlinear decentralized theory, a nonlinear decentralized controller was designed for the pose stabilization of X-Cell50 helicopter in vertical flight. This simple-structured and easy-to-realized controller does not require the precise math model, however, the integral action included in it compensates unknown factors of plant. Simulations compared with sliding mode control, show that the proposed control system overcomes the disadvantage of sliding mode control just as chattering phenomenon and steady-state error. It is important that the excellent robust performance withstanding the outside disturbances and dynamical uncertainties is obtained by using the nonlinear decentralized controller.
出处
《系统仿真学报》
EI
CAS
CSCD
北大核心
2006年第5期1114-1117,共4页
Journal of System Simulation
基金
航天支撑基金
关键词
直升机控制系统
姿态稳定控制
非线性分散控制
鲁棒性
helicopter control system
pose stabilization control
nonlinear decentralized control
robust
