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文章针对微型共轴直升机的自主控制提出了一种保证系统稳定性的控制优化策略。该策略包含非线性模型预测控制器(NMPC)和稳定飞行姿态的线性反馈控制器。其中NMPC控制器以分段定值的控制方式工作在控制导航层,其目的是以扩展预测域来减轻计算负荷,从而利于工程实现。基于线性矩阵不等式的线性控制器以扰动和未知摄动的形式来补偿MPC的低频带,并实现直升机内回路的控制增稳。接着对基于此控制策略的控制系统稳定性进行分析。仿真结果证实了提出的控制策略的可行性。
Aiming at the autonomous control of micro coaxial helicopter, this paper presents a control strategy to ensure system stability. The strategy includes a nonlinear model predictive controller (NMPC) and a linear feedback controller that stabilizes flight attitude. Among them, the NMPC controller works in the control navigation layer by the way of sub-fixed value control. Its purpose is to extend the prediction domain to reduce the computational load and thus benefit the project implementation. The linear matrix controller based on linear matrix inequality compensates for the low frequency band of MPC in the form of perturbation and unknown perturbation and stabilizes the control loop of the helicopter. Then the stability of the control system based on this control strategy is analyzed. The simulation results confirm the feasibility of the proposed control strategy.