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关于直升机姿态稳定性控制问题,由于直升机系统具有非线性,外部环境多变的干扰影响姿态稳定性。传统的建模与控制方法,面临构造Lyapunov函数难、控制稳定性难度大的问题。为解决上述问题,提出直升机系统离散模糊建模与姿态稳定控制方法。根据直升机系统姿态动力学模型,建立其连续、离散时间模糊模型。采用线性矩阵不等式(LMI)方法,提出离散模糊状态反馈控制方法。所得控制率,不仅使闭环系统渐进稳定且能够获得较好的控制性能。改进方法具有响应速度快、过度过程时间短、无超调、能有效抑制外部干扰等优点,表明了改进方法的有效性。
With regard to helicopter attitude stability control problem, due to the non-linearity of helicopter system, the disturbance of the external environment changes the attitude stability. The traditional modeling and control methods face the difficulty of constructing Lyapunov functions and the difficulty of controlling the stability. In order to solve the above problems, the discrete fuzzy modeling and attitude stability control of helicopter system are proposed. According to helicopter system attitude dynamics model, the continuous and discrete time fuzzy model is established. The linear matrix inequality (LMI) method is used to propose a discrete fuzzy state feedback control method. The resulting control rate, not only the closed-loop system asymptotic stability and can get better control performance. The improved method has the advantages of fast response, short process time, no overshoot and effective suppression of external disturbances, which shows the effectiveness of the improved method.