基于多点逆模型组的直升机慢切换姿态控制

针对传统直升机自适应模型逆姿态控制方法中单点逆模型的不足,提出基于多点逆模型组的慢切换控制方法.该方法构造多点逆模型组取代单点逆模型,将直升机姿态误差控制系统转化为切换系统;引入驻留时间的概念,构造慢切换逻辑,从理论上给出了系统的稳定条件.与传统方法进行了对比仿真,结果表明:该方法有效地减轻了自适应元件的补偿负担,显著提高了其控制性能;系统在切换过程中保持稳定,并具有较强的性能鲁棒性.

Helicopter slow switching attitude control based on multiple points inversion models group

Dealing with the deficiency of single point inversion model in traditional helicopter adaptive model inversion attitude control, a slow switching control method based on the multiple points inversion models group was proposed and the asymptotic stability condition was given. In the method, multiple points inversion models group was constructed to replace single point inversion model. Attitude error control system could be transformed into linear switched system, and attitude adaptive control could be achieved via the slow switching using dwelling time. Simulation results show superiorities of proposed method. Work burden of the adaptive element in the control method can be greatly alleviated and controller robustness could be promoted. The flight control system designed based the proposed method can maintain stable well during the switching processes, and also has strong performance robustness.