摘要
针对三自由度直升机系统的多变量、强耦合等特点,首先从俯仰、横侧、旋转通道分别建立3个通道的数学模型。而后对俯仰通道设计常规的PD控制器,对耦合的横侧和旋转通道设计以横侧轴为内回路的PID控制器。考虑到系统被控对象参数不确定等因素,以及PID控制器不能很好适应参数时变的因素,在常规PID控制参数下,设计模糊控制器。经仿真实验得出该方法克服了常规PID的不足,控制效果较为理想。
For the characteristics of three degree of freedom helicopter,such as multi-variable,strong coupling and so on,first the mathematical model of the system was established from three channels individually.These three channels were evaluation channel,traverse channel and rotation channel.Then for evaluation channel,PD controller was designed;while for coupling traverse channel and rotation channel,a kind of method was adopted which making traverse angle as inner loop,then PID controller was designed for inner loop and outer loop individually.Considering the factor about uncertain parameters in system,and common PID controller could not suit the factor about varying parameters,thus fuzzy controller was designed.It was shown by simulation that fuzzy PID could overcome the deficiencies in common PID,and got better control effect.
出处
《电子测量技术》
2017年第10期113-117,共5页
Electronic Measurement Technology
关键词
三自由度
直升机
PID
模糊控制
three degree of freedom
helicopter
PID controller
fuzzy control
