计算机与数字工程2017，Vol.45Issue(5)：917-922,993,7.DOI:10.3969/j.issn.1672-9722.2017.05.027
基于非线性输出反馈的三自由度直升机控制
Control of 3DOF Helicopter Based on Nonlinear Output Feedback
摘要
Abstract
For the control system of three degree of freedom helicopter system,a method based on nonlinear output feedback is proposed. Through the mechanism analysis,a mathematical model of three degree of freedom helicopter is established. Using the differential geometry of affine nonlinear local homeomorphism coordinate transformation theory the system of elevate axis and pitch axis two channel exact linearization processing,are decoupled,regular linear systems. Based on the linear quadratic regulator (LQR)theory,the tracking controller is designed for the linear system,and the PID controller is designed for the travel axis. Simu?lation and experimental results show that the nonlinear feedback processing method is effective in this paper.关键词
非线性/输出反馈/精确线性化/线性二次型控制/PID控制Key words
nonlinear/output feedback/exact linearization/linear quadratic regulator/PID control分类
航空航天引用本文复制引用
周唯,王晓东..基于非线性输出反馈的三自由度直升机控制[J].计算机与数字工程,2017,45(5):917-922,993,7.基金项目
云南省科技计划项目(编号:2015ZC005,2013DH034) （编号:2015ZC005,2013DH034）
云南省中青年学术和技术带头人后备人才培养计划项目(编号:2011CI017)资助. （编号:2011CI017）
