基于干擾觀測器的三自由度模型直升機控制技術
發(fā)布時間：2018-08-29 10:59
【摘要】：直升機的飛行控制系統(tǒng)屬于典型的多輸入多輸出(Multi-input and Multi-output,MIMO)系統(tǒng),具有較強的通道耦合和非線性特性,是控制工程領域較為復雜的被控對象。三自由度(Three Degree Of Freedom,3DOF)模型直升機作為一個構造簡單且成本低廉的實驗裝置,可用于驗證各種線性和非線性控制方法,為直升機飛行控制方法的研究與開發(fā)提供指導作用。論文以固高科技有限公司研制的三自由度模型直升機為實驗平臺,針對存在外界未知干擾、建模不確定、輸入飽和以及輸出受限的三自由度模型直升機控制問題,研究了基于觀測器的魯棒控制方法。主要研究內容如下:首先,根據3DOF模型直升機的運動特點,研究了3DOF模型直升機的非線性數學模型,并在平衡狀態(tài)進行線性化,給出了線性運動方程。然后,針對存在外界干擾的3DOF模型直升機線性模型,設計了基于干擾觀測器的廣義比例積分(Generalized Proportional Integral,GPI)控制器。所設計的干擾觀測器能有效估計外界干擾;控制器的設計簡單易行,控制參數可直接通過極點配置的方法獲得。數值仿真結果表明,所設計的控制器在系統(tǒng)存在外界干擾情況下具有良好的跟蹤性和魯棒性。實驗結果驗證了所設計的GPI控制器比傳統(tǒng)的比例積分微分(Proportion-Integral-Derivative,PID)控制器具有更好的跟蹤性能,并能有效解決傳統(tǒng)PID控制器中由微分項引入的噪聲問題。其次,研究了一類具有外界未知干擾和建模不確定非線性系統(tǒng)的反演控制方法,并應用于3DOF模型直升機的運動控制。設計干擾觀測器估計系統(tǒng)的外界未知干擾和建模不確定,設計反演控制律實現姿態(tài)的跟蹤控制。利用Lyapunov方法證明了閉環(huán)系統(tǒng)的穩(wěn)定性,并將該方法應用于俯仰通道的運動控制,仿真結果表明,在系統(tǒng)存在外界未知干擾和建模不確定情況下,所設計的控制器仍能保證俯仰通道具有良好的跟蹤性能。實驗結果驗證了所設計的控制器使俯仰通道具有良好的跟蹤性能。接著,考慮存在外界未知干擾和建模不確定的3DOF模型直升機非線性模型的三軸運動控制問題,研究了一種基于增廣狀態(tài)觀測器的反演控制方法。將整個系統(tǒng)分成兩個子系統(tǒng),設計增廣狀態(tài)觀測器有效估計未知狀態(tài)、外界未知干擾和建模不確定;將滾轉角作為偏航通道的虛擬控制輸入,設計輔助系統(tǒng),有效補償偏航通道輸入飽和的影響,并利用Lyapunov方法證明了閉環(huán)系統(tǒng)的穩(wěn)定性。仿真結果表明,在系統(tǒng)存在外界未知干擾及建模不確定的情況下,整個閉環(huán)控制系統(tǒng)可以得到滿意的跟蹤性能。最后,針對3DOF模型直升機存在外界未知干擾、建模不確定、輸入飽和和輸出受限綜合影響下的運動控制問題,設計了基于觀測器的反演控制器。采用增廣狀態(tài)觀測器處理系統(tǒng)的外界未知干擾、建模不確定和未知狀態(tài)量;構造輔助系統(tǒng)解決電機飽和受限的影響;利用界限Lyapunov函數(Barrier Lyapunov Function,BLF)處理系統(tǒng)的輸出受限問題,用Lyapunov方法證明了閉環(huán)系統(tǒng)的穩(wěn)定性。仿真結果表明,在外界未知干擾、建模不確定、輸入飽和及輸出受限的綜合影響下,所設計的控制器能保證整個閉環(huán)控制系統(tǒng)得到滿意的控制效果。
[Abstract]:The helicopter flight control system is a typical multi-input and multi-output (MIMO) system. It has strong channel coupling and nonlinear characteristics. It is a more complex controlled object in the control engineering field. The experimental device can be used to verify all kinds of linear and nonlinear control methods and provide guidance for the research and development of helicopter flight control methods.In this paper, a three-degree-of-freedom model helicopter developed by Gu Hi-tech Co., Ltd. is used as the experimental platform, aiming at unknown external disturbances, modeling uncertainty, input saturation and output constraints. The main research contents are as follows: Firstly, according to the motion characteristics of the 3DOF model helicopter, the nonlinear mathematical model of the 3DOF model helicopter is studied, and the linear motion equation is obtained by linearization in the equilibrium state. A generalized proportional integral (GPI) controller based on disturbance observer is designed for a 3 DOF model helicopter with disturbance. The disturbance observer can effectively estimate the external disturbance. The design of the controller is simple and feasible, and the control parameters can be obtained directly by pole assignment. The results show that the designed controller has good tracking performance and robustness in the presence of external disturbances. The experimental results show that the designed GPI controller has better tracking performance than the traditional Proportion-Integral-Derivative (PID) controller and can effectively solve the problem of derivative in the traditional PID controller. Secondly, the inverse control method for a class of nonlinear systems with unknown disturbances and model uncertainties is studied and applied to the motion control of a 3D OF model helicopter. The Lyapunov method is used to prove the stability of the closed-loop system and the method is applied to the motion control of the pitch channel. The simulation results show that the controller can still guarantee the good tracking performance of the pitch channel in the presence of unknown disturbances and uncertainties. Secondly, considering the three-axis motion control problem of a nonlinear model helicopter with unknown disturbances and uncertainties, an augmented state observer based inverse control method is proposed. The whole system is divided into two subsystems and the augmented state observer is designed. The roll angle is used as the virtual control input of the yaw channel, and the auxiliary system is designed to compensate effectively the influence of input saturation of the yaw channel. The stability of the closed-loop system is proved by Lyapunov method. The simulation results show that the system has unknown external disturbances and the modeling is not correct. Finally, an observer-based inverse controller is designed for the motion control problem of a 3D OF model helicopter with unknown disturbances, uncertain modeling, input saturation and output constraints. The augmented state observer is used to process the system. The stability of the closed-loop system is proved by Lyapunov method. The simulation results show that the model is not established in the presence of unknown disturbances. It is determined that under the combined influence of input saturation and output constraints, the designed controller can ensure the satisfactory control effect of the whole closed-loop control system.
【學位授予單位】：南京航空航天大學
【學位級別】：碩士
【學位授予年份】：2016
【分類號】：V275.1;V249.1
本文編號：2211000
[Abstract]:The helicopter flight control system is a typical multi-input and multi-output (MIMO) system. It has strong channel coupling and nonlinear characteristics. It is a more complex controlled object in the control engineering field. The experimental device can be used to verify all kinds of linear and nonlinear control methods and provide guidance for the research and development of helicopter flight control methods.In this paper, a three-degree-of-freedom model helicopter developed by Gu Hi-tech Co., Ltd. is used as the experimental platform, aiming at unknown external disturbances, modeling uncertainty, input saturation and output constraints. The main research contents are as follows: Firstly, according to the motion characteristics of the 3DOF model helicopter, the nonlinear mathematical model of the 3DOF model helicopter is studied, and the linear motion equation is obtained by linearization in the equilibrium state. A generalized proportional integral (GPI) controller based on disturbance observer is designed for a 3 DOF model helicopter with disturbance. The disturbance observer can effectively estimate the external disturbance. The design of the controller is simple and feasible, and the control parameters can be obtained directly by pole assignment. The results show that the designed controller has good tracking performance and robustness in the presence of external disturbances. The experimental results show that the designed GPI controller has better tracking performance than the traditional Proportion-Integral-Derivative (PID) controller and can effectively solve the problem of derivative in the traditional PID controller. Secondly, the inverse control method for a class of nonlinear systems with unknown disturbances and model uncertainties is studied and applied to the motion control of a 3D OF model helicopter. The Lyapunov method is used to prove the stability of the closed-loop system and the method is applied to the motion control of the pitch channel. The simulation results show that the controller can still guarantee the good tracking performance of the pitch channel in the presence of unknown disturbances and uncertainties. Secondly, considering the three-axis motion control problem of a nonlinear model helicopter with unknown disturbances and uncertainties, an augmented state observer based inverse control method is proposed. The whole system is divided into two subsystems and the augmented state observer is designed. The roll angle is used as the virtual control input of the yaw channel, and the auxiliary system is designed to compensate effectively the influence of input saturation of the yaw channel. The stability of the closed-loop system is proved by Lyapunov method. The simulation results show that the system has unknown external disturbances and the modeling is not correct. Finally, an observer-based inverse controller is designed for the motion control problem of a 3D OF model helicopter with unknown disturbances, uncertain modeling, input saturation and output constraints. The augmented state observer is used to process the system. The stability of the closed-loop system is proved by Lyapunov method. The simulation results show that the model is not established in the presence of unknown disturbances. It is determined that under the combined influence of input saturation and output constraints, the designed controller can ensure the satisfactory control effect of the whole closed-loop control system.
【學位授予單位】：南京航空航天大學
【學位級別】：碩士
【學位授予年份】：2016
【分類號】：V275.1;V249.1
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