带输入饱和的直升机信息融合解耦控制算法

针对带输入饱和的直升机解耦控制问题，提出了一种改进的信息融合解耦控制算法，通过融合主通道和相应耦合通道期望输出和控制能量的软约束信息，以及系统状态方程和输出方程的硬约束信息，获得二次型性能指标下解耦控制律的最优估计，使直升机的内回路控制具有良好的动态特性和解耦性能。通过控制能量软约束信息的自适应调节，使求取的控制量满足输入饱和限制要求，避免了因输入饱和导致的解耦性能变差和驱动器过载问题。提出的信息融合控制算法基于被控对象的离散模型实现，容易应用于工程实际中。仿真结果表明了该算法的有效性。

Decoupling Control Algorithm of Helicopter with Input Saturation Based on Information Fusion

For the decoupling control of helicopters with input saturation, an improved information fusion decoupling control algorithm is proposed. By fusing the soft constraints information of the desired output and the control energy of the main channel and the relevant coupling channels, with the hard constraints information supplied by the system state equation and the output equation, the optimal estimation of the decoupling control rule under the quadratic performance index can be obtained, and the dynamic characteristics and decoupling performance of the inner control loop of the helicopters can be improved. By adaptively adjusting the soft constraints information of the control energy, the control variables satisfied the limitation requirements of input saturation, and avoid the decoupling performance deterioration and the driver overload caused by input saturation. The proposed information fusion control algorithm based on discrete model of the controlled system, and could be easily applied to engineering practice. The simulation results demonstrate the effectiveness of the proposed method.