| X-Cell50直升机非线性控制系统仿真研究 |
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| 引用本文： | 黄炳红,李东海,老大中,曾河华.X-Cell50直升机非线性控制系统仿真研究[J].系统仿真学报,2006,18(5):1114-1117. |
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| 作者姓名： | 黄炳红 李东海 老大中 曾河华 |
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| 作者单位： | 1. 北京理工大学机电工程学院,北京,100081
2. 清华大学热能工程系,北京,100084 |
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| 摘 要： | 基于非线性分散控制理论,设计了X-cell50微型直升机垂直飞行的姿态稳定非线性控制系统。该控制系统的设计不依赖对象精确数学模型,控制器结构简单易于实现,所包含的积分环节补偿了系统内部的各种未知因素以及外部扰动。仿真结果与变结构滑模控制相比,不仅避免了滑模控制存在的输出稳态误差和控制信号的抖振现象,而且当直升机存在外部干扰和内部参数变化时对其姿态稳定性能的控制具有很强的鲁棒性。
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| 关 键 词： | 直升机控制系统 姿态稳定控制 非线性分散控制 鲁棒性 |
| 文章编号： | 1004-731X（2006）05-1114-04 |
| 收稿时间： | 2005-01-21 |
| 修稿时间： | 2006-01-19 |
Simulation Study on Nonlinear Control System for X-Cell50 Helicopter |
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| HUANG Bing-hong,LI Dong-hai,LAO Da-zhong,ZHENG He-hua.Simulation Study on Nonlinear Control System for X-Cell50 Helicopter[J].Journal of System Simulation,2006,18(5):1114-1117. |
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| Authors: | HUANG Bing-hong LI Dong-hai LAO Da-zhong ZHENG He-hua |
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| Institution: | l.School of Mechatro-electronic, Beij ing Institute of Technology, Beij ing 100081,China; 2.Departrnent of Thermal Engineering, Tsinghua University, Beijing 100084, China |
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| Abstract: | Based on nonlinear decentralized theory,a nonlinear decentralized controller was designed for the pose stabilization of X-Cell50 helicopter in vertical flight.This simple-structured and easy-to-realized controller does not require the precise math model,however,the integral action included in it compensates unknown factors of plant.Simulations compared with sliding mode control,show that the proposed control system overcomes the disadvantage of sliding mode control just as chattering phenomenon and steady-state error.It is important that the excellent robust performance withstanding the outside disturbances and dynamical uncertainties is obtained by using the nonlinear decentralized controller. |
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| Keywords: | helicopter control system pose stabilization control nonlinear decentralized control robust |
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