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对全状态的无人直升机非线性数学模型进行分析,根据模型特点将控制器的设计分成主旋翼回路和姿态回路两部分。结合前馈补偿技术,将模型处理成适用于SDRE(状态相关黎卡提方程)控制的标准形式,采用SDRE方法设计全局渐近稳定姿态控制律。结合李亚普诺夫稳定性理论,给出了闭环系统全局渐近稳定解析条件的推导过程。试飞测试的结果证明了控制方法的有效性,以及在高速公路巡检、救援上的实用性。
The non-linear mathematical model of the unmanned helicopter is analyzed. According to the characteristics of the model, the design of the controller is divided into two parts: the main rotor loop and the attitude loop. Combined with the feedforward compensation technique, the model is processed into a standard form suitable for SDRE (state dependent Riccati control), and SDRE method is used to design global asymptotic stable attitude control law. According to the Lyapunov stability theory, the derivation of the global asymptotic stability of the closed-loop system is given. The results of flight test proved the effectiveness of the control method and the practicality of inspection and rescue on expressway.