四旋翼飛行仿真器的多變量控制器設(shè)計與研究
發(fā)布時間：2018-11-22 14:44
【摘要】：針對目前工程領(lǐng)域中的多輸入、多輸出(MIMO)系統(tǒng),以四旋翼飛行仿真器為研究平臺,設(shè)計了兩套控制器,分別采用線性二次型(LQ-Linear Quadratic)最優(yōu)控制方法和一種類似于規(guī)則分解的多變量模糊控制法。在Matlab/Simulink中建立其控制模型,并利用實時工具箱(Real-Time-Workshop)實現(xiàn)實時控制。實際控制結(jié)果表明,線性二次型最優(yōu)控制器在合理選擇加權(quán)矩陣Q、R基礎(chǔ)上,所設(shè)計的控制器對于系統(tǒng)從初始狀態(tài)至零位的階躍響應和給定輸入的軌跡跟蹤有良好的控制性能。采用多組二維模糊控制器,通過分析被控對象機理特性,對輸出進行整合多變量模糊控制器,其控制性能與線性二次型控制器相近,兩者對于線性、定常、具有強耦合的多變量控制系統(tǒng)都具有良好的控制效果。
[Abstract]:Aiming at the multi-input and multi-output (MIMO) systems in the engineering field, two sets of controllers are designed based on the four-rotor flight simulator. The linear quadratic form (LQ-Linear Quadratic) optimal control method and a multivariable fuzzy control method similar to rule decomposition are used respectively. The control model is established in Matlab/Simulink, and the real-time control is realized by real-time toolbox (Real-Time-Workshop). The actual control results show that the linear quadratic optimal controller is based on the rational selection of the weighting matrix QR. The designed controller has good control performance for the step response from the initial state to the zero position and the trajectory tracking of the given input. By analyzing the mechanism characteristics of the controlled object, the output is integrated with the multi-variable fuzzy controller. The control performance of the fuzzy controller is similar to that of the linear quadratic controller. The multivariable control system with strong coupling has good control effect.
【作者單位】： 江西理工大學機電工程學院;
【分類號】：V249.1
本文編號：2349665
[Abstract]:Aiming at the multi-input and multi-output (MIMO) systems in the engineering field, two sets of controllers are designed based on the four-rotor flight simulator. The linear quadratic form (LQ-Linear Quadratic) optimal control method and a multivariable fuzzy control method similar to rule decomposition are used respectively. The control model is established in Matlab/Simulink, and the real-time control is realized by real-time toolbox (Real-Time-Workshop). The actual control results show that the linear quadratic optimal controller is based on the rational selection of the weighting matrix QR. The designed controller has good control performance for the step response from the initial state to the zero position and the trajectory tracking of the given input. By analyzing the mechanism characteristics of the controlled object, the output is integrated with the multi-variable fuzzy controller. The control performance of the fuzzy controller is similar to that of the linear quadratic controller. The multivariable control system with strong coupling has good control effect.
【作者單位】： 江西理工大學機電工程學院;
【分類號】：V249.1
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