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针对飞行包线上对象数学模型的大范围变化所带来的系统不确定问题,提出基于定量反馈理论(quantitative feedback theory,QFT)的直升机全包线姿态控制器设计方案。讨论了运用QFT设计多输入多输出(multiple-input multiple-output,MIMO)系统控制器的原理及一般设计过程,并采用该理论设计UH-60直升机在6种飞行状态下的全包线姿态控制器。结果证明:QFT能够解决由于模型参数不确定性所造成的控制系统鲁棒性问题,而且具有较强的工程应用价值。
Aiming at the system uncertainty caused by the large-scale changes of mathematical models of flight envelope, a design scheme of helicopter full envelope attitude controller based on quantitative feedback theory (QFT) is proposed. The principle and general design process of designing a multiple-input multiple-output (MIMO) system controller using QFT are discussed. The theory is used to design the all-envelope attitude control of the UH-60 helicopter under six flight conditions Device. The results show that QFT can solve the problem of robustness of control system caused by uncertainty of model parameters, and has strong engineering application value.