基于系数图法的小型直升机机载多变量控制器设计
Onboard Multivariable Controller Design for a Small Scale Helicopter Using Coefficient Diagram Method
摘要：
小型直升机不仅对控制输入和干扰的灵敏度增加，而且其动态带宽也增加。这些特性使得模型直升机作为一种飞行机器人，更加难以控制。动力学模型的精度将决定所设计控制器的性能。这是有吸引力的，在这方面，有一个控制器，可以适应未建模的动态或参数的变化，并在这种情况下表现良好。系数图法（CDM）被选为候选人综合这样的控制器，由于其简单和方便，在证明综合性能指标，包括等效时间常数，稳定性指标和鲁棒性。在本研究中，CDM应用于小型直升机在悬停与巡航飞行时的多变量控制器设计。在MIMO CDM的综合中，基于实践经验的良好设计常识是必要的。低级控制器算法被设计为在机载计算机系统上实现的混合监控体系结构的一部分。它的可行性和性能进行评估的基础上，其鲁棒性，所需的时域系统响应和遵守硬实时的要求。
英文摘要：
A mini scale helicopter exhibits not only increased sensitivity to control inputs and disturbances, but also higher bandwidth of its dynamics. These properties make model helicopters, as a flying robot, more difficult to control. The dynamics model accuracy will determine the performance of the designed controller. It is attractive in this regards to have a controller that can accommodate the unmodeled dynamics or parameter changes and perform well in such situations. Coefficient Diagram Method (CDM) is chosen as the candidate to synthesize such a controller due to its simplicity and convenience in demonstrating integrated performance measures including equivalent time constant, stability indices and robustness. In this study, CDM is implemented for a design of multivariable controller for a small scale helicopter during hover and cruise flight. In the synthesis of MIMO CDM, good design common sense based on hands-on experience is necessary. The low level controller algorithm is designed as part of hybrid supervisory control architecture to be implemented on an onboard computer system. Its feasibility and performance are evaluated based on its robustness, desired time domain system responses and compliance to hard-real time requirements.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
