Gain-scheduled control method for a three-degree-of-freedom helicopter

Abstract

The invention relates to a three-degree-of-freedom helicopter control method based on an LPV system. Through a three-degree-of-freedom helicopter system composition structure, an equation of motion in three-degree-of-freedom directions is established, then a variable parameter, a state vector, and system input and output are selected according to an LPV system concept to establish a three-degree-of-freedom helicopter LPV model, and an LPV mathematical model is translated into a Matlab language. According to a three-degree-of-freedom helicopter model, a system feedback loop is designed, a weighting function is selected, and a controller is generated. A controller module diagram is set up after controller parameters are obtained, a controlled system module is established, different inputs are given, observation output is selected, and then semi-physical simulation of a three-degree-of-freedom helicopter is performed. Hardware control gives a tracking signal through Matlab, after control voltage is obtained through calculation of a computer, in linkage with official software QuaRC, data are written in a data acquisition card, and then a control signal flows through a power amplifier to directly control a helicopter body.

Description

Technical field [0001] The present invention is a control method designed for a three-degree-of-freedom helicopter. This control method is based on a linear parameter varying (linear parameter varying) model of the three-degree-of-freedom helicopter. A gain scheduling controller is designed to optimize the control performance of the helicopter system. Background technique [0002] The three-degree-of-freedom helicopter system is a type of typical nonlinear system, while the traditional control methods such as PID control and traditional gain scheduling control are aimed at its linear model, which does not have a good global control effect. When the system parameters change too fast during the flight, a good system response is often not obtained. Moreover, the performance of the controller in the traditional controller design method is closely related to the selection of the balance point. A small number of models will affect the accuracy of the system. If the number of models is ...

AI Technical Summary

Problems solved by technology

[0002] The three-degree-of-freedom helicopter system is a typical nonlinear system, and traditional control methods such as PID control and traditional gain-scheduled control are aimed at its linear model, which does not have a good global control effect, and when the three-degree-of-freedom helicopter system When the system parameters change too fast during the flight, it is often impossible to get a good system response

Moreover, in the traditional controller design method, the performance of the controller is closely related to the selection of the balance point. The number of models is small, which will affect the accuracy of the system. can become harsh and detrimental to engineering implementation

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