Multi-scale approximate explicit model predictive control method for three-degree-of-freedom helicopter

Abstract

The invention discloses a multi-scale approximate explicit model predictive control method for a three-degree-of-freedom helicopter. The multi-scale approximate explicit model predictive control method comprises the following steps that step (1), modeling is carried out on the three-degree-of-freedom helicopter to obtain a parameter optimization problem, namely an object to be approximated below;step (2), a piecewise linear insertion method is carried out to initially obtain an approximate control law; step (3), self-adaptive separation function approximation is carried out, and the form of the approximate control law is transformed; step (4), a barycenter function is introduced, and barycenter interpolation is utilized to obtain an approximate control law based on the barycenter function; and step (5), multi-scale approximate explicit model predictive control over a three-degree-of-freedom helicopter system is carried out. According to the multi-scale approximate explicit model predictive control method, the real-time performance of the three-degree-of-freedom helicopter control system is improved, the control complexity is reduced, the storage capacity requirement of a controller is reduced, the online calculation time is saved, and a good control effect is achieved.

Description

technical field [0001] The invention relates to an optimal control method of a flight controller. Background technique [0002] With the development of society, there are more and more types of means of transportation. Among them, aircraft has attracted widespread attention from the society due to its unique advantages. All countries in the world have increased investment in this field, and its development is also related to national security and strength. reflect. Among them, helicopters are special among various types of aircraft. They can quickly take off and land, and can adapt to difficult environments. Compared with traditional controllers, optimized controllers are particularly important. It is the key to system evaluation and analysis to run normally and reduce computing cost while improving system performance indicators. [0003] For dealing with multivariable constrained optimal control problems, model predictive control method is a very effective method. After y...

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Problems solved by technology

However, when the number of inputs increases or the control time domain becomes longer, the

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