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本文以3—自由度直升飞机系统为模拟平台,针对其线性化模型,采用了LQR方法对直升机控制器进行设计以提高系统的性能,针对该方法加入了内模,以增强系统的跟踪能力和抗干扰能力。
In this paper, a 3-DOF helicopter system is used as a simulation platform. For its linearization model, the LQR method is used to design the helicopter controller to improve the performance of the system. The internal model is added for this method to enhance the system’s tracking ability And anti-interference ability.