摘要
提出了慢切换H∞控制方法,实现了直升机大包线下的姿态控制。首先针对直升机的典型状态点,采用二自由度H∞方法设计局部鲁棒控制器,形成执行子控制组;然后引入基于"驻留时间"的慢切换逻辑完成不同子控制器之间的稳定切换,实现姿态控制目标。仿真结果表明,该方法能够充分发挥TDFH∞方法的优势,并有效地降低其设计保守性,系统的姿态解耦控制特性良好,当存在侧风扰动时具备了较强的性能鲁棒性。
Novel control scheme for helicopter attitude control was proposed using the Two-Degree-Freedom（TDF） H∞method and slow switching logic.In this scheme,local robust controllers were designed using the TDF H∞method to establish the sub-controller group.Furthermore,the slow switching logic based on ＂dwelling time＂ was utilized to realize the stable switching between different controllers,and the helicopter attitude loop control could be achieved.Simulation results show the proposed scheme can exert the advantages of the TDF H∞method and reduce its design conservatity effectively.Good uncoupling performance and strong robustness against side wind disturbance are also demonstrated.
出处
《飞行力学》
CSCD
北大核心
2010年第5期27-30,共4页
Flight Dynamics
基金
国家自然科学基金资助(60774061)
高等学校博士点基金资助(20060006010)
