双转子MIMO系统的动态建模与最优控制

Proceedings of the IEEE 2000 National Aerospace and Electronics Conference. NAECON 2000. Engineering Tomorrow (Cat. No.00CH37093) Pub Date : 2000-10-10 DOI:10.1109/NAECON.2000.894937

S. Ahmad, A. Chipperfield, O. Tokhi

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引用次数: 58

摘要

采用黑盒系统识别技术，建立了一自由度双旋翼MIMO悬停系统的动力学模型。TRMS的行为在某些方面类似于直升机。因此，这是一个有趣的识别和控制问题。给出了一自由度刚体离散线性模型的辨识方法。将提取的模型应用于反馈LQG补偿器的设计。这种方法具有良好的跟踪能力，但对控制的要求较高，对系统残余振动的控制权限不足。这些问题可以通过使用命令路径预过滤器进一步增强系统来解决。前馈与反馈相结合的补偿器既满足性能目标，又服从执行器约束。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Dynamic modeling and optimal control of a twin rotor MIMO system

A dynamic model for the characterising of a one-degree-of-freedom (DOF) twin rotor MIMO system (TRMS) in hover is extracted using a black-box system identification technique. The behaviour of the TRMS in certain aspects resembles that of a helicopter. Hence, it is an interesting identification and control problem. Identification for a 1-DOF rigid-body, discrete-time linear model is presented. The extracted model is employed in the design of a feedback LQG compensator. This has a good tracking capability, but requires high control effort and has inadequate authority over residual vibration of the system. These problems are resolved by further augmenting the system with a command path prefilter. The combined feedforward and feedback compensator satisfies the performance objectives and obeys the actuator constraint.

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Proceedings of the IEEE 2000 National Aerospace and Electronics Conference. NAECON 2000. Engineering Tomorrow (Cat. No.00CH37093)

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