| 引用本文: | 于明清,徐锦法,刘建业.小型无人直升机控制律设计与仿真[J].控制理论与应用,2012,29(6):792~796.[点击复制] |
| YU Ming-qing,XU Jin-fa,LIU Jian-ye.Control design and simulation for small unmanned helicopter[J].Control Theory and Technology,2012,29(6):792~796.[点击复制] |
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| 小型无人直升机控制律设计与仿真 |
| Control design and simulation for small unmanned helicopter |
| 摘要点击 3087 全文点击 2422 投稿时间：2011-05-11 修订日期：2011-10-25 |
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| DOI编号 10.7641/j.issn.1000-8152.2012.6.CCTA110532 |
| 2012,29(6):792-796 |
| 中文关键词 小型无人直升机 小摄动线性化 李雅普诺夫函数 PID控制律 backstepping控制律 |
| 英文关键词 small unmanned helicopter (SUH) small perturbation linearization Lyapunov function PID control law backstepping control law |
| 基金项目 装备预研基金重点资助项目(9140A25030206HK0204). |
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| 中文摘要 |
| 依据摄动线化原理, 本文对模型直升机非线性模型在平衡点进行了小摄动线性化处理, 得出了线性化动力学模型, 并对它进行了PID控制律设计, 应用MATLAB/Simulink对控制律作用于线性化模型和非线性模型分别进行了仿真验证, 结果表明作用于线性化模型具有良好控制效果的控制律尚不能有效控制非线性模型. 使用backstepping方法对非线性模型子系统选择相应的李雅普诺夫候选函数, 应用递归方法设计了使型直升机动力学非线性模型镇定的控制律, 确保李雅普诺夫候选函数的导数为负定. 经仿真验证表明利用该设计方法得到的控制律能对非线性模型进行有效控制. |
| 英文摘要 |
| For the nonlinear dynamic model of a small unmanned helicopter (SUH), we employ the small perturbation theory to obtain a linearized dynamic mathematical model, and then, design a PID control law for this linearized model. However, MATLAB/Simulink shows that when this control law is applied to the nonlinear model, the result is not as desirable as when it is applied to the inearized model. As an alternative, we employ the backstepping method and choose relevant Lyapunov function with negative definite derivative for each subsystem of the nonlinear model to design the control law for the nonlinear dynamics model of the SUH. Simulation results show that this control law is effective to stabilize and control the nonlinear model. |
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