双转子Mimo系统(TRMS)最优控制器设计

Kumar Vivek Ranjan, V. Laxmi
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引用次数: 0

摘要

TRMS是一种原型直升机。研究TRMS理论并设计控制器来管理TRMS反应的目的是为了开发直升机飞行控制平台。本研究将非线性模型线性化并以状态空间形式描述。为了控制活动性,设计了一种采用线性二次高斯补偿器的MIMO双转子系统。为了构建控制器,采用二自由度动力学模型研究了俯仰和偏航运动。两阶段布局方法从创建最优LQR开始,以创建卡尔曼滤波器观测器结束。为了获得所需的响应,可以任意改变LQR参数Q和R。然后,应用BFO方法改进LQG补偿器的Q和R参数。仿真结果表明,所设计的控制器能够满足要求。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Design of an Optimal Controller for a Twin Rotor Mimo System (TRMS)
The TRMS is a prototype helicopter. The reason to study the TRMS theory and creating a controller to manage TRMS reaction is to develop a platform for helicopter flight control. This research linearized and described the nonlinear model in state space form. To control activity, a MIMO Twin Rotor system was designed with a Linear Quadratic Gaussian (LQG) compensator. In order to construct a controller, a 2-DOF dynamic model was used to study pitch and yaw motion. The two-stage layout method begins with the creation of an optimal LQR and ends with the creation of a Kalman filter observer. To achieve the required response, the LQR parameters Q and R are changed at arbitrary. Later, the BFO approach was applied to improve the LQG compensator's Q and R parameters. Simulations indicate that the proposed controller can meet the requirements.
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