基于系统分解的三自由度直升机控制仿真研究

三自由度直升机模型是多变量、非线性、强耦合的复杂控制对象,针对对象维数较高,控制器不易设计的问题,提出了一种基于系统分解的控制方法。首先建立了直升机的数学模型,并通过输入-状态线性化方法将模型线性化;其次将模型分解为两个子系统;最后分别采用无静差跟踪方法与PD控制方法设计子系统控制器。该方法通过模型分解,可大大降低控制器设计难度。仿真结果表明直升机姿态轨迹跟踪效果良好。

Study on Simulation of 3-DOF Helicopter Model Control Based on System Decomposition

The 3-DOF helicopter model system is a multivariable,nonlinear,strong coupling complex control object.The object′s controller is hard to be designed as it is high order,so control method based on decomposition is adopted.Firstly,the precise mathematical model of the helicopter is set up,and the model is linearized by entering-state linearization method.And then it is decomposed into two subsystems.Lastly non-static error tracking and PD control method are used to design their controllers separately. The system decomposition make the design of controller easer. Simulation results show that the trajectory of helicopter attitude tracks well, and this method is proved to be effective.