为解决一种复杂非线性多输入多输出系统的控制器设计问题,对两自由度直升机模型的实时控制方法进行了研究.在详细分析力学和运动学的基础上,利用拉格朗日方法,比较准确地求得了系统的非线性动力学方程.经局部线性化后,设计了线性二次型最优控制器和前馈控制器.仿真和实际测试结果表明,数学模型和控制器设计正确,整个控制系统运行良好.%To solve the issue of designing the controller for complex nonlinear multi-input and multi-output ( MIMO) system, the real time control method of two degrees of freedom (2DOF) helicopter model is researched. On the basis of the detail analysis on mechanics and kinematics, by adopting Lagrange method, the nonlinear mechanics equation of the system is obtained precisely. Through local linearization, the linear quadratic regulator ( LQR) and feed-forward controller are designed. The results of simulation and practical test indicate that the mathematical model and the controller designed are correct and the overall control system works well.
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