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论文:2013,Vol:31,Issue(2):172-178 |
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引用本文： |
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柯吉, 王伟, 李爱军, 王长青. 微型共轴直升机的非线性模型预测控制[J]. 西北工业大学 |
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Ke Ji, Wang Wei, Li Aijun, Wang Changqing. Nonlinear MPC (Model Predictive Control) for Minature Coaxial Helicopters[J]. Northwestern polytechnical university |
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| 微型共轴直升机的非线性模型预测控制 |
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| 柯吉, 王伟, 李爱军, 王长青 |
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| 西北工业大学 自动化学院, 陕西 西安 710072 |
| 摘要: |
| 文章针对微型共轴直升机的自主控制提出了一种保证系统稳定性的控制优化策略。该策略包含非线性模型预测控制器(NMPC)和稳定飞行姿态的线性反馈控制器。其中NMPC控制器以分段定值的控制方式工作在控制导航层,其目的是以扩展预测域来减轻计算负荷,从而利于工程实现。基于线性矩阵不等式的线性控制器以扰动和未知摄动的形式来补偿MPC的低频带,并实现直升机内回路的控制增稳。接着对基于此控制策略的控制系统稳定性进行分析。仿真结果证实了提出的控制策略的可行性。 |
| 关键词:
无人直升机
非线性系统
模型预测控制
稳定性
飞行控制
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| Nonlinear MPC (Model Predictive Control) for Minature Coaxial Helicopters |
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| Ke Ji, Wang Wei, Li Aijun, Wang Changqing |
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| Department of Automatic Control,Northwestern Polytechnical University,Xi'an 710072,China |
| Abstract: |
| This paper introduces an optimization based control scheme for stabilizing and controlling coaxial heli-copters. The scheme consists of a nonlinear MPC (NMPC) and an inner-loop linear feedback controller. The pro-posed MPC works in a piecewise constant fashion to reduce the computation burden and to extend the predictive ho-rizon,which is available for engineering implementation. The linear matrix inequality based (LMI-based) inner-loop feedback controller responds to fast dynamics of the helicopter and compensates for the low bandwidth of thehigh-level controller in the presence of disturbances and uncertainties. The stability issues of the NMPC and the o-verall control scheme are discussed. Simulations are carried out to verify the proposed control scheme. |
| Key words:
bandwidth
computer simulation
feedback control
flight control systems
helicopters
linear matrixinequalities
model predictive control
optimization
stability;nonlinear system
unmannedaerial helicopters
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| 收稿日期: 2012-06-02
修回日期:
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| DOI: |
| 基金项目: 国家国际科技合作专项基金(2011DFR81070)资助 |
| 通讯作者:
Email： |
| 作者简介: 柯吉(1982-),西北工业大学博士研究生,主要从事飞行器控制与仿真的研究。
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| 相关功能 |
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| 作者相关文章 |
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| 柯吉 在本刊中的所有文章 |
| 王伟 在本刊中的所有文章 |
| 李爱军 在本刊中的所有文章 |
| 王长青 在本刊中的所有文章 |
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