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无人直升机是典型的多输入多输出系统,具有静不稳、强耦合、不确定的特点。本文首先基于小扰动理论建立起无人直升机的线性模型;然后运用状态反馈进行极点配置,实现了对被控对象四通道间的动态解耦;最后设计了基于LMI的无人直升机H∞鲁棒姿态控制器,解决了模型参数摄动的问题并进行了仿真验证。结果表明所设计的姿态控制器性能良好、结构相对简单,达到ADS-33E-PRF标准LEVEL1的要求。
Unmanned helicopter is a typical multi-input and multi-output system, with static instability, strong coupling, uncertainties. Firstly, a linear model of unmanned helicopter is established based on the theory of small perturbation. Then the state feedback is used for the pole placement to realize the dynamic decoupling of the four channels of the controlled object. Finally, an unmanned helicopter H∞ robust based on LMI is designed Attitude controller solves the model parameter perturbation problem and carries on the simulation verification. The results show that the designed attitude controller has good performance and relatively simple structure, which meets the requirements of ADS-33E-PRF standard LEVEL1.