基于两时间尺度模型的直升机非线性控制器设计

提出一种基于两时间尺度模型的直升机非线性控制方法. 该方法利用直升机不同状态达到稳定的时间不同的特点, 将直升机模型分为快速和慢速两种模型. 反步控制方法和逆动力学控制方法分别被用于进行快慢两种模型控制器的设计, 并在控制过程中采用了不同的控制周期. 仿真结果表明, 利用上述方法设计的控制器, 对于阶跃变化和正弦变化的速度轨迹具有良好的跟踪效果.

Design of two time-scale model based nonlinear controller for a helicopter

Two time-scale model based nonlinear control method for a helicopter is proposed. According to the characteristics of the helicopter that different state is with different settling time, the helicopter model is divided into the fast model and the slow model. The backstepping control method and the inverse dynamic control method are separately used to design the controllers for the fast and the slow model. And different control intervals are used for different models. Simulation results show that good performances are achieved by the proposed controller for step and sine change velocity tracking.