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针对加拿大Quanser公司生产的三自由度直升机,设计一种基于LPV模型的H_∞增益调度的控制方法。首先建立直升机系统的数学模型,将其转化为多胞形式,设计H_∞增益调度控制器,应用MATLAB的LMI工具箱求解控制器参数。再根据性能要求选择权重函数,设计系统反馈回路,并在Simulink环境下进行仿真实验。结果表明:该控制系统是稳定的,具有良好的跟踪响应,且系统具有优越的抗干扰性能。
A control method of H_∞ gain scheduling based on LPV model is designed for the three degrees of freedom helicopter produced by Quanser in Canada. Firstly, the mathematical model of the helicopter system is established, which is transformed into multicellular form. The H_∞ gain scheduling controller is designed. The MATLAB LMI toolbox is used to solve the controller parameters. Then select the weight function according to the performance requirements, design the system feedback loop, and simulate in Simulink environment. The results show that the control system is stable, has good tracking response, and the system has superior anti-interference performance.