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为研究三自由度直升机实验教学模型的运动特性,建立了小型三自由度直升机系统的数学模型,将直升机模型的运动分为俯仰轴、横侧轴、旋转轴三个部分,并分别建立动力学方程;针对该直升机模型的悬停控制问题,设计了基于Lyapunov稳定性理论的模型参考自适应控制系统,使得直升机姿态控制能达到期望的要求。仿真结果表明,设计的控制系统能同时满足动态和稳态性能指标,为利用该方法进行其他控制系统的设计提供了参考。
In order to study the movement characteristics of the experimental teaching model of a three-DOF helicopter, a mathematical model of a small three-DOF helicopter system is established. The movement of the helicopter model is divided into three parts: pitch axis, lateral axis and rotation axis. For the hovering control problem of the helicopter model, a model reference adaptive control system based on the Lyapunov stability theory is designed, which makes the helicopter attitude control achieve the desired requirements. The simulation results show that the designed control system can meet the dynamic and steady-state performance indexes at the same time, which provides a reference for the design of other control systems by this method.