| 无人直升机非线性控制器设计 |
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| 引用本文： | 鲁可,徐东杉.无人直升机非线性控制器设计[J].直升机技术,2013(4):7-9,23. |
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| 作者姓名： | 鲁可 徐东杉 |
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| 作者单位： | 中航工业直升机设计研究所,江西景德镇333001 |
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| 摘 要： | 直升机作为一种特殊的飞行器,其非线性运动特性强,稳定性差,各通道的耦合性严重。针对直升机的特点,将非线性反馈线性化的方法运用到直升机的控制中,通过该方法得到解耦的直升机伪线性模型,采用经典的LQR线性最优二次型设计方法设计状态反馈控制器。仿真结果表明,设计的控制系统具有良好的性能,满足控制要求。
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| 关 键 词： | 反馈线性化 伪线性模型 LQR 无人直升机 |
Unmanned Helicopter Nonlinear Control Design |
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| Authors: | LU Ke XU Dongshan |
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| Institution: | (AVIC Helicopter Research and Development Institute, Jingdezhen 333001 , China) |
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| Abstract: | As a special aircraft,helicopter has serious non-linear motion characteristics,poor sta-bility,each channel coupling serious.For those characteristics,feedback linearization method ap-plied to the control of the helicopter.So we obtained decoupled pseudo-linear helicopter model,then using the classic LQR linear quadratic optimal method design state feedback controller.Simulation results showed that the control system has good performance and meet the performance requirements. |
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| Keywords: | feedback linearization pseudo-linear model LQR unmanned helicopter |
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