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按照Tornambe型非线性鲁棒控制器设计方法,基于某型无人直升机侧向运动数学模型,设计了该型无人直升机侧向飞行姿态保持分散非线性控制系统,该控制系统包含的积分环节补偿了系统内部各种未知因素及外部扰动,通道间解耦效果良好。仿真结果与PID控制相比较,具有很强的抗扰动能力。
According to the design method of Tornambe nonlinear robust controller, a decentralized non-linear control system for the lateral flight attitude of this unmanned helicopter is designed based on the lateral movement mathematical model of a certain type of unmanned helicopter. The control system includes integral part compensation A variety of unknown factors within the system and external disturbances, channel decoupling effect is good. Simulation results compared with the PID control, with strong anti-disturbance ability.