基于ILMI的直升机悬停控制律设计

提出了一种新的直升机悬停控制律设计方法。在建立了直升机数学模型后,通过迭代线性矩阵不等式方法(ILM I)求解基于线性二次型的直升机悬停控制律,使得直升机能达到满意的悬停性能指标,并且明显降低了控制器的保守性。仿真结果表明,使用该方法设计的控制器同时满足动态性能指标和稳态性能指标,与使用标准线性二次型方法设计的控制器相比,其性能指标在横侧向提高了12.3%,纵向提高了13.7%。

Hovering Control Law Design for a Helicopter Based on ILMI

This paper studies a new method for helicopter hovering controller design.The simulation model of the helicopter is introduced.A linear quadratic controller design algorithm is proposed based on the iterative linear matrix inequality(ILMI) approach,making sure that a satisfied helicopter hovering performance is obtained.And the developed method is less conservative via the iterative approach.The quadratic performance of the longitudinal system achieved by the proposed method is 13.7% less than the common method,and the quadratic performance of the lateral system guaranteed by the ILMI method is 12.3% less than the common one.It is also demonstrated that the designed controller can satisfy both the dynamic response performance and the steady response performance.The simulation results show that it is effective.