Two-step anti-windup control of helicopter
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摘要: 在执行机构饱和约束下,研究了直升机的全姿态控制和速度跟踪问题.提出了一种能适用直升机这样的开环不稳定系统的两步法抗饱和控制方法,即第1步在不考虑饱和约束下设计了直升机H∞回路成形内外回路控制器,内回路实现直升机全姿态控制和通道解耦,外回路实现速度跟踪;第2步考虑饱和约束,设计抗饱和补偿器弱化饱和引起的闭环性能退化.证明了该抗饱和控制系统的L2稳定性,并通过回路变换和乘数理论减少其保守性.对UH-60黑鹰直升机的仿真试验表明了该方法的有效性.Abstract: The all attitude control and velocity track of helicopter with actuator saturation constraints was considered. A two-step anti-windup control approach was proposed, which can be applied to open-loop unstable systems such as helicopter. Without consideration of saturation constraints, H∞ loop shaping inner and outer loop controller was given. The inner loop achieved all attitude control and channels decoupling, while the outer loop realized velocity tracking. With consideration of saturation constraints, the design of anti-windup compensator was proposed to reduce close-loop performance degradation caused by saturation. L2 stability of the proposed anti-windup control system was proved, and give potentially less conservative of anti-windup compensator by loop transformation and multiplier theory. The simulations of UH-60 Black Hawk helicopter show the effectiveness of the proposed anti-windup control method.
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Key words:
- two-step anti-windup /
- L2 stability /
- H∞ loop shaping /
- inner and outer loop /
- all attitude
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