摘要
在双旋翼直升机姿态控制优化中,针对双旋翼系统为多输入多输出复杂非线性系统,引起系统稳定性差。为解决上述问题,进行了系统模型辨识,利用辨识模型设计了采用扩张状态观测器的分散控制系统,最后进行了双旋翼系统的实时控制仿真。结果表明,上述设计的控制器可实现双旋翼系统的解耦控制,并且所设计的分散控制器参数整定简单易行,并可实现在线整定,表明设计的扩张状态观测器反馈线性化分散控制方法有效,为双旋翼直升机姿态优化控制提供了科学依据。
For the twin rotor helicopter attitude optimization control,because the twin rotor system is multi-input multi-output complex nonlinear system,the stability of the system is poor. In order to solve the problem,the complex nonlinear system is identified and system model is developed. Then,decentralized control scheme based on the extended state observer is designed. Finally,this design is tested by real time simulation. From the test results the decoupling control of the twin rotor system can be realized. The control parameters of the decentralized controller are easy to tune online. The decentralized control scheme based on ESO is effective,and can provide scientific basis for the optimization attitude control of the twin rotor helicopter.
出处
《计算机仿真》
CSCD
北大核心
2015年第7期65-69,共5页
Computer Simulation
关键词
双旋翼系统
系统辨识
状态观测器
反馈线性化
分散控制
Twin rotor system
System identification
State observer
Feedback linearization
Decentralized control
