Research of Simulation on 3-DOF Helicopter System Based on Backstepping Control

摘要

There were some characteristics of 3-DOF helicopter: nonlinear, multi-variable, strong coupling and so on. So in order to realize the control of pitch angle loop, yaw and rotation angle loop, the algorithm of backstepping control was used. Firstly, dynamic models were established on the analysis for three channels of 3-DOF helicopter, and PD control was adopted for its pitch channel and yaw channel. And on rotation channel, PID control was adopted. Then a method with backstepping control was proposed to improve the tracking performance of pitch angle and yaw angle. Finally, through simulation and comparison with PD control, it was shown that backstepping control could improve the tracking speed of pitch angle, restrain the fluctuation of pitch angle and yaw angle, which makes height, yaw, and rotating channels of helicopter smoother.