直升机鲁棒控制器设计及地面仿真试验

以直升机为被控对象,应用LQR技术设计了三轴稳定鲁棒控制器.以直升机模型、执行器模型以及设计的三轴稳定控制器构成全数字闭环仿真系统进行仿真,并将所设计的鲁棒控制器编制鲁棒实时飞行控制律软件加载至飞行控制计算机,在实际地面仿真环境下进行了较为全面的地面联试.仿真结果表明,所设计的鲁棒控制器正确有效,并为其进一步应用于实际飞行控制系统打下了坚实基础.

Robust Controller Design and Semi-Physical Simulation for a Helicopter

The linear quadratic regulator(LQR) control law is designed for the robust controller of three stabilization axes for a helicopter.The digital closed-loop simulation is conducted with the helicopter model,actuator models and the designed controller in loop.The robust controller is programmed into a real-time software which is downloaded into the flight control computer.The hardware-in-loop simulation is performed to show effectiveness of the controller.