Modeling and Control Method for Nonlinear Multi-Time-Scale and Time-Delay Systems
A system modeling and control method technology, applied in adaptive control, general control system, control/regulation system, etc., can solve the problems of inability to eliminate fast-changing modes, external disturbances and system parameters, etc.
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[0071] Helicopter attitude control system is a typical NMTSTDSs, the method of the present invention is applied to the CE150 helicopter attitude control system of Humusoft Company below, and in conjunction with figure 1 and figure 2 , to illustrate its implementation method, the specific process is as follows:
[0072] Step 1: Based on the existing helicopter dynamics model, a continuous-time uncertain time-delay fuzzy singular perturbation model of the helicopter attitude control system is established.
[0073] The schematic diagram of CE150 helicopter attitude control structure is as follows: image 3 As shown, the dynamic model of the helicopter is:
[0074]
[0075] Among them, I d is the moment of inertia of the helicopter along the horizontal axis, T(t) is the driving moment, T f (t) is the friction torque, T m (t) is the gravitational moment, is the attitude angle, and τ is the delay constant.
[0076]
[0077] in, is the coefficient of friction, m is t...
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