输入饱和CE150直升机模型的复合非线性反馈控制

doi:10.3969/j.issn.0255-8297.2018.03.015

应用科学学报 ›› 2018, Vol. 36 ›› Issue (3): 553-566.doi: 10.3969/j.issn.0255-8297.2018.03.015

• 控制与系统 • 上一篇

输入饱和CE150直升机模型的复合非线性反馈控制

赵平¹, 蒋沅^1,2

1. 南昌航空大学信息工程学院, 南昌 330063;
2. 南昌航空大学无损检测技术教育部重点实验室, 南昌 330063

收稿日期:2016-12-28 修回日期:2017-04-17 出版日期:2018-05-31 发布日期:2018-05-31
通信作者: 蒋沅,副教授,硕导,研究方向:非线性系统控制理论与应用等,E-mail:jiangyuan@nchu.edu.cn E-mail:jiangyuan@nchu.edu.cn
基金资助:
国家自然科学基金（No.61663030，No.61663032）；江西省研究生创新基金（No.YC2015-S323）；江西省自然科学基金（No.20142BAB207021）；江西省教育厅科技项目基金（No.GJJ150753）；无损检测技术教育部重点实验室（南昌航空大学）开放基金（No.ZD29529005）资助

CE150 Helicopter Model with Input Saturation by Composite Nonlinear Feedback Control

ZHAO Ping¹, JIANG Yuan^1,2

1. College of Information Engineering, Nanchang Hangkong University, Nanchang 330063, China;
2. Key Laboratory of Nondestructive Testing Ministry of Education, Nanchang Hangkong University, Nanchang 330063, China

Received:2016-12-28 Revised:2017-04-17 Online:2018-05-31 Published:2018-05-31

摘要/Abstract

摘要：

针对带有输入饱和的直升机模型输出问题，提出了一种基于复合非线性反馈（composite nonlinear feedback，CNF）控制方法.为了解决输出调节问题，构建了一个观测器和一个输出反馈CNF控制器，其中CNF控制器包括线性控制律和非线性控制律两部分.该文首先提出了一个直升机模型的线性化状态方程，然后解输出方程，通过H_∞黎卡提微分方程得到反馈增益和观测器增益，构造出具有小阻尼比的线性控制部分和改善瞬态性能的非线性反馈控制部分.为了研究控制器的性能，分别在无外部干扰和有外部干扰两种情况下设计了控制器.仿真结果表明，复合非线性反馈控制器在时变信号和时不变信号下均缩小了跟踪时间和跟踪误差，提高了直升机系统的瞬态性能.

关键词: 复合非线性反馈, 直升机模型, 多输入多输出, 输出调节

Abstract:

This paper introduces the composite nonlinear feedback (CNF) control method to solve the output regulation problems of helicopter model with input saturation. To solve the output regulation problem, an observer and an output feedback CNF control law are constructed. The CNF control law includes a linear control law and a nonlinear control law. A linear state equation of helicopter model and a reference signal is proposed and solved to obtain the feedback gain and the observer gain through the Riccati equation. A linear control part with a small damping ratio and a nonlinear feedback control section for improving transient performance are constructed. In order to study the performance of the controller, we have designed two controllers with or without external disturbances,respectively. Simulation results show that the CNF controller can reduce the pursuit time and pursuit error both for time-variant signals and for time invariant signals, featuring with high transient performance.

Key words: helicopter model, output regulation, composite nonlinear feedback(CNF), multiple input multiple output

中图分类号:

TP273

赵平, 蒋沅. 输入饱和CE150直升机模型的复合非线性反馈控制[J]. 应用科学学报, 2018, 36(3): 553-566.

ZHAO Ping, JIANG Yuan. CE150 Helicopter Model with Input Saturation by Composite Nonlinear Feedback Control[J]. Journal of Applied Sciences, 2018, 36(3): 553-566.

参考文献

[1] 鲜斌,古训,刘祥,王福,刘世博. 小型无人直升机姿态非线性鲁棒控制设计[J]. 控制理论与应用,2014, 31(4):409-416. Xian B, Gu X, Liu X, Wang F, Liu S B. The nonlinear robust control design of small unmanned helicopter attitude control[J]. Control Theory and Applications, 2014, 31(4):409-416. (in Chinese)
[2] 蒋沅,史志谦,代冀阳. 一种非线性直升机系统的有限时间镇定[J]. 应用科学学报,2015, 33(3):317-328. Jiang Y, Shi Z Q, Dai J Y. A fnite time stabilization of a nonlinear helicopter system[J]. Journal of Applied Sciences, 2015, 33(3):317-328. (in Chinese)
[3] 彭程,王新民,马天力,何澳. 一种改进的输出反馈特征结构配置方法在飞翼飞机增稳系统设计中的应用[J]. 控制与决策,2016, 31(6):1111-1117. Peng C, Wang X M, Ma T L, He A. An improved output feedback eigenstructure confguration method applied to the design of airfoil stabilization system[J]. Control and Decision, 2016, 31(6):1111-1117. (in Chinese)
[4] 马瑞,吴洪涛,丁力. 基于人工蜂群算法的无人直升机LQG/LTR控制律优化设计[J]. 控制与决策,2016, 31(12):2248-2254. Ma R, Wu H T, Ding L. Based on artifcial bee colony algorithm LQG/LTR control law optimization design of unmanned helicopter[J]. Control and Decision, 2016, 31(12):2248-2254. (in Chinese)
[5] 陈炜峰,朱海飞,王伟,马浩,薛冬. 基于线性二次高斯的四旋翼飞行器姿态控制[J]. 控制工程,2014, 21(1):120-124. Chen W F, Zhu H F, Wang W, Ma H, Xue D. Based on linear quadratic gaussian four rotor aircraft attitude control[J]. Control Engineering of China, 2014, 21(1):120-124. (in Chinese)
[6] 方星,吴爱国,董娜. 非匹配扰动干扰下的无人直升机轨迹跟踪控制[J]. 控制理论与应用,2015, 32(10):1325-1334. Fang X, Wu A G, Dong N. Trajectory tracking control of unmanned helicopter under mismatched disturbance and disturbance[J]. Control Theory and Applications, 2015, 32(10):1325- 1334. (in Chinese)
[7] 贾秋玲,韩圣洁,张福凯. 无人直升机QFT控制及基于RTX的半实物仿真[J]. 火力与指挥控制,2013, 38(12):65-67. Jia Q L, Han S J, Zhang F K. Unmanned helicopter QFT control and RTX based hardware in the loop simulation[J]. Fire Control & Command Control, 2013, 38(12):65-67. (in Chinese)
[8] 田永青. 基于定量反馈理论的姿态控制技术研究[J]. 战术导弹技术,2016(3):83-88. Tian Y Q. Research on attitude control technology based on quantitative feedback theory[J]. Tactical Missile Technology, 2016(3):83-88. (in Chinese)
[9] 王晓燕,陈晓. 基于MOGA算法的H_∞ 回路成形直升机姿态控制器设计[J]. 控制与决策,2016, 31(1):59-65.Wang X Y, Chen X. Based on MOGA algorithm H_∞ loop shaping helicopter attitude controller design[J]. Control and Decision, 2016, 31(1):59-65. (in Chinese)
[10] 吴超,王浩文,姜辰,张玉文,倪先平. 基于LADRC的直升机姿态解耦控制及参数整定[J]. 北京航空航天大学学报,2015, 41(11):2085-2094. Wu C, Wang H W, Jiang C, Zhang Y W, Ni X P. Based on LADRC helicopter attitude decoupling control and parameter tuning[J]. Journal of Beijing University of Aeronautics and Astronautics, 2015, 41(11):2085-2094. (in Chinese)
[11] 蒋学程,彭侠夫,何栋炜. 永磁同步电机模型补偿组合非线性反馈位置控制[J]. 中国电机工程学报, 2012, 32(3):89-95. Jiang X C, Peng X F, He D W. Permanent magnet synchronous motor model compensation combination nonlinear feedback position control[J]. Proceedings of the CSEE, 2012, 32(3):89- 95. (in Chinese)
[12] He Y, Chen B M, Wu C. Composite nonlinear control with state and measurement feedback for general multivariable systems with input saturation[J]. Systems & Control Letters, 2004, 54(5):455-469.
[13] 彭文东,苏剑波. 一种推广的组合非线性输出反馈控制[J]. 控制理论与应用,2009, 26(11):1185- 1191. Peng W D, Su J P. A generalized combination of nonlinear output feedback control[J]. Control Theory and Applications, 2009, 26(11):1185-1191. (in Chinese)
[14] 蒋学程,彭侠夫,何栋炜. 一类SISO系统离散非线性反馈内模组合控制[J]. 华中科技大学学报(自然科学版),2011, 39(11):75-79. Jiang X C, Peng X F, He D W. A class of SISO system discrete nonlinear feedback internal module control[J]. Journal of Huazhong University of Science and Technology(Natural Science Edition), 2011, 39(11):75-79. (in Chinese)
[15] Lan W Y, Zhou Q. Speed control of DC motor usingcomposite nonlinear feedback control[C]//IEEE International Conference on Control and Automation. New Zealand:IEEE, 2009:2160-2164.
[16] 齐素英,张宁. 大型客机自动着陆中的组合非线性反馈控制[J]. 工程数学学报,2014, 31(6):816- 828. Qi S Y, Zhang N. Combined nonlinear feedback control in automatic landing of large passenger aircraft[J]. Chinese Journal of Engineering Mathematics, 2014, 31(6):816-828. (in Chinese)
[17] 李明明. 新型压电约束层阻尼结构及其在整星隔振中的应用[D]. 哈尔滨:哈尔滨工业大学,2014.
[18] Nao T, Kattayama H, Ichikawa A. Output regulation of a helicopter model[C]//SICE 2003 Annual Conference, 2003(8):936-941.
[19] Lan W Y, Zhou X, Wang D. Output regulation for linear systems with input saturation by composite nonlinear feedback control[C]//Proceedings of the 29th Chinese Control Conference, 2010:660-664.
[20] Huang J. Nonlinear output regulation:theory and application[J]. Advances in Design and Control, 2004, 14(1):22-24.

输入饱和CE150直升机模型的复合非线性反馈控制

CE150 Helicopter Model with Input Saturation by Composite Nonlinear Feedback Control

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价

[1]	江凯丽, 陈小敏, 朱秋明, 胡续俊, 陈兵. 三维场景非平稳MIMO信道构建及参数演进方法[J]. 应用科学学报, 2018, 36(5): 774-786.
[2]	孙小丽, 许魁, 徐友云, 马文峰. 莱斯信道下多对双向大规模MIMO AF中继系统性能分析[J]. 应用科学学报, 2018, 36(3): 420-430.
[3]	苏君煦, 陈小敏, 胡续俊, 朱秋明. 信道反馈延迟时上行多用户MIMO中继系统预编码[J]. 应用科学学报, 2017, 35(2): 160-170.
[4]	李国民, 刘鑫, 康晓非, 廖桂生. MIMO-OFDM系统中一种改进的盲信道估计算法[J]. 应用科学学报, 2016, 34(3): 286-292.
[5]	薛翠薇, 朱秋明, 陈小敏, 廖志忠, 刘星麟. 天线物理特性对MIMO信道空域相关性的影响[J]. 应用科学学报, 2016, 34(3): 251-262.
[6]	戴锡平，彭华，郑永军，王琦峰. 用于MIMO-OFDM 的变换域盲信道估计算法[J]. 应用科学学报, 2014, 32(5): 523-529.
[7]	杨鼎成1，何浩2. 多小区MU-MIMO系统中基于信道投射的块对角化预编码设计[J]. 应用科学学报, 2014, 32(4): 385-393.
[8]	熊艳伟，张建华，张平. 宽带MIMO 系统信道仿真仪设计[J]. 应用科学学报, 2014, 32(3): 229-236.
[9]	孙中伟，张小飞，吴海浪，李建峰. L 型阵列双基地MIMO 雷达的传播算子多维角度估计[J]. 应用科学学报, 2014, 32(1): 57-64.
[10]	叶新荣1,2，朱卫平1，孟庆民1. MIMO-OFDM 系统基于压缩感知的稀疏信道估计[J]. 应用科学学报, 2013, 31(3): 245-251.
[11]	古强1，许小东1，蒋轶2，戴旭初1. 适合传输三路数据流的最小距离MIMO 预编码[J]. 应用科学学报, 2013, 31(2): 135-141.
[12]	程院兵，顾红，苏卫民. 双基地MIMO雷达多目标定位[J]. 应用科学学报, 2013, 31(1): 53-58.
[13]	刘姗1，杨维1;2. OFDMA系统中多波束机会波束成形的门限反馈[J]. 应用科学学报, 2012, 30(5): 455-460.
[14]	张路平，王建新. MIMO信号调制方式盲识别[J]. 应用科学学报, 2012, 30(2): 135-140.
[15]	张正宇，邱玲. 用于TD-LTE系统的排序串行干扰消除迭代检测译码[J]. 应用科学学报, 2012, 30(1): 19-24.