无人直升机多回路无模型控制的仿真研究

摘要

将基于紧格式线性化的无模型自适应控制方法应用在无人直升机参数时变非线性系统,对其滚转﹑俯仰和偏航的三输入/三输出回路姿态进行控制。控制器的设计和分析基于对伪偏导数矩阵的估计,仅依赖于系统的输入/输出(input/output,I/O)数据,不需要已知任何其他信息。非线性仿真结果表明,该方法对无人直升机这种具有不确知动态的非线性系统具有良好的跟踪和解耦效果。%Model-free self-adaptive control (MFAC)method based on linearization of compact format is applied in time var-ying nonlinear system for parameters of unmanned helicopter which is aimed to control three-input and three-output loop at-titudes of rolling,pitching and yaw. Design and analysis on the controller is based on evaluation on pseudo-partial-derivative (PPD)which only depends on input/output (I/O)data of the system rather than other known information. Nonlinear simu-lation results indicate that this method has good tracing and decoupling effects for uncertain dynamic nonlinear systems such as unmanned helicopter.