摘要
为解决无人纵列式直升机模型建立的不确定性等问题,提出一种鲁棒保性能控制器设计方法。以某个转速配平点作为基准状态设计点,设计鲁棒最优保性能控制器,并通过仿真实验验证。实验结果表明:该方法能确保系统具有良好的稳定鲁棒性和性能鲁棒性,实现姿态响应的整体平滑,姿态跟随快速,控制效果良好。
In order to solve the problem of the uncertainty established by the unmanned helicopter model, a robust guaranteed cost controller design method is proposed. Taking certain rotating speed balance point as a normal condition design point, a robust optimal guaranteed safety controller is designed and verified by simulation. The experimental results show that the method can ensure the robust stability and robustness of the system, and achieve the overall smoothness of attitude response, fast attitude follow-up and good control effect.
作者
严强强
盛守照
林群馥
Yan Qiangqiang;Sheng Shouzhao;Lin Qunfu(College of Automation Engineering,Nanjing University of Aeronautics & Astronautics,Nanjing 210016,China)
出处
《兵工自动化》
2018年第12期34-38,共5页
Ordnance Industry Automation
基金
航空科学基金(2016ZC52018)
关键词
无人纵列式直升机
气动模型
不确定性
鲁棒保性能控制
飞行品质
unmanned tandem helicopter
aerodynamic model
uncertainty
robust guaranteed cost control
flightquality
