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针对三自由度直升机系统的控制系统,提出了基于非线性输出反馈的处理方法。通过机理分析建立了三自由度直升飞机的数学模型,使用微分几何中仿射非线性局部同胚坐标变换理论把系统的俯仰轴和滚动轴两个通道精确线性化处理,得到解耦的、正则的线性系统。利用线性最优二次型(LQR)理论设计了线性化处理后跟踪控制器,同时对旋转轴设计了PID控制器。仿真和实验结果表明,论文使用的非线性反馈处理方法是有效的。
Aiming at the control system of helicopter with three degrees of freedom, a method based on nonlinear output feedback is proposed. Through the mechanism analysis, the mathematical model of helicopter with three degrees of freedom has been set up. Using the affine nonlinear local homeomorphic coordinate transformation theory in differential geometry, the two channels of pitch axis and rolling axis of the system are precisely linearized and decoupled, Regular linear system. The linearized tracking controller is designed by using the linear optimal quadratic (LQR) theory. At the same time, a PID controller is designed for the rotating shaft. Simulation and experimental results show that the nonlinear feedback method used in the paper is effective.