摘要
针对三自由度直升机模型,为实现快速准确的跟踪控制,在现有线性二次型调节器(Linear Quadratic Regulafor,LQR)最优控制理论的基础上,利用多模型切换控制的思想,建立多个模型,设计多模型LQR控制器,选择最贴近当前状态的模型,并将其所对应的控制量作用于直升机模型。MATLAB仿真及实物控制结果显示,控制响应时间缩短,跟踪误差减小,表明该方法是有效的,可以提高跟踪控制的快速性和准确性。
For the 3-DOF helicopter model,in order to realize fast and accurate tracking control,on the basis of existing LQR optimal control theory,we establish multiple models and design a multi-model LQR controller using multi-model switching control method. Choosing the most suitable model for the current state and applying its control variables to helicopters,MATLAB simulation and physical control results show that the control response time shortens and the tracking error decreases. So the method is effective and can improve the speed and accuracy of the tracking control.
出处
《济南大学学报（自然科学版）》
CAS
北大核心
2014年第1期45-49,共5页
Journal of University of Jinan(Science and Technology)
基金
山东省自然科学基金(ZR2010FM020)
