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直升机飞行系统属于典型的多输入、多输出系统,是一种较为复杂的被控对象。针对Googol三自由度直升机系统,通过分析其动力学特性,发现线性化模型在重力方向上存在误差,该误差会造成预测控制算法的静差;在设计无静差预测控制器的基础上进行闭环控制实验,同时结合实际情况对输入量加入硬约束。结果表明:在该控制器的作用下直升机能够稳态无静差地跟踪参考轨迹;并检验了扰动情况下控制器的控制效果,亦表明控制器具有良好的鲁棒性。
Helicopter flight system is a typical multi-input, multi-output system, is a more complex controlled object. By analyzing the dynamics of the Googol three-DOF helicopter system, it is found that there is an error in the gravity direction of the linearized model, which will cause the static error of the predictive control algorithm. The closed-loop Control experiments, combined with the actual situation of the hard input constraints. The results show that the helicopter can track the reference trajectory without any static difference under the control of the controller. The control effect of the controller under disturbance is also verified, and the controller has good robustness.