三自由度直升机模型辨识与控制

摘要

针对三自由度直升机,通过物理分析得到俯仰、横滚和偏航3个通道的模型结构,根据3个通道的不同特点使用不同的方法分别辨识3个通道的传递函数模型,并利用所辨识的模型对3个通道分别设计控制器.闭环控制实验结果表明基于辨识得到的模型所设计的控制器能够实现满意的控制性能.%Model structures of three channels of pitch, pitch and yaw are obtained through physical analysis for a 3 DOF helicopter. According to different characteristics of the three channels, different methods are adopted to identify the transfer function models respectively. Controllers are designed for the three channels using identified models. The close-loop control experiment results show that controllers designed based on the identified models can achieve satisfactory performances.