小型直升机MIMO控制的代数方法
An Algebraic Approach for the MIMO Control of Small Scale Helicopter
摘要：
小型直升机的控制是一个多输入多输出问题。为了使用经典控制方法来正式解决MIMO问题，需要提出多维根轨迹图来调整控制参数。MIMO设计中RL图维数要求的问题使得经典方法的设计过程必须从最内环向外进行级联多环SISO系统。为了实现这种控制方法的直升机，俯仰和滚转姿态控制系统往往从属于，分别，纵向和横向速度控制系统在嵌套架构。该技术的工作要求是，内部姿态控制回路必须具有比外部速度控制回路更高的带宽，而这对于高性能小型直升机来说是不可能的。为了解决上述问题，在这项工作中提出了一种代数设计方法。针对同时存在对象参数不确定性和风干扰的小型直升机悬停控制问题，采用s-CDM方法设计了控制器。
英文摘要：
The control of small-scale helicopter is a MIMO problem. To use of classical control approach to formally solve a MIMO problem, one needs to come up with multidimensional Root Locus diagram to tune the control parameters. The problem with the required dimension of the RL diagram for MIMO design has forced the design procedure of classical approach to be conducted in cascaded multi-loop SISO system starting from the innermost loop outward. To implement this control approach for a helicopter, a pitch and roll attitude control system is often subordinated to a, respectively, longitudinal and lateral velocity control system in a nested architecture. The requirement for this technique to work is that the inner attitude control loop must have a higher bandwidth than the outer velocity control loop which is not the case for high performance mini helicopter. To address the above problems, an algebraic design approach is proposed in this work. The designed control using s-CDM approach is demonstrated for hovering control of small-scale helicopter simultaneously subjected to plant parameter uncertainties and wind disturbances.
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