论文部分内容阅读
针对目前工程领域中的多输入、多输出(MIMO)系统,以四旋翼飞行仿真器为研究平台,设计了两套控制器,分别采用线性二次型(LQ-Linear Quadratic)最优控制方法和一种类似于规则分解的多变量模糊控制法。在Matlab/Simulink中建立其控制模型,并利用实时工具箱(Real-Time-Workshop)实现实时控制。实际控制结果表明,线性二次型最优控制器在合理选择加权矩阵Q、R基础上,所设计的控制器对于系统从初始状态至零位的阶跃响应和给定输入的轨迹跟踪有良好的控制性能。采用多组二维模糊控制器,通过分析被控对象机理特性,对输出进行整合多变量模糊控制器,其控制性能与线性二次型控制器相近,两者对于线性、定常、具有强耦合的多变量控制系统都具有良好的控制效果。
Aiming at the multi-input and multi-output (MIMO) system in the field of engineering at present, two sets of controllers are designed by using the quadrotor flight simulator as the research platform. The optimal control methods are respectively LQ-Linear Quadratic A Multivariable Fuzzy Control Method Similar to Rule Decomposition. Build its control model in Matlab / Simulink and use Real-Time-Workshop for real-time control. The actual control results show that the linear quadratic optimal controller has a good selection of the input of the trajectory tracking for the step response of the system from the initial state to the zero position based on the rational selection of the weight matrix Q, R Control performance. The multi-group two-dimensional fuzzy controller is adopted to analyze the mechanism characteristics of the controlled object to integrate the output with the multivariable fuzzy controller whose control performance is similar to that of the linear quadratic controller. Both of them are linear, stationary and strongly coupled Multivariable control system has a good control effect.