三自由度直升机系统的显式模型预测控制实验研究

发布时间：2018-05-11 17:46

本文选题：显式模型预测控制 + 三自由度直升机　；参考：《浙江工业大学》2015年硕士论文

【摘要】：直升机比较突出的特点是可以定点悬停,小面积垂直起降,因此在军用和民用方面有着广泛的用途。研究直升机飞行系统具有非常重要的现实意义,但由于直升机系统是一个典型的多输入多输出系统,并且具有强耦合、非线性等特性,因此直升机飞行系统的研究颇具挑战。针对现今直升机飞行控制器设计方面遇到的问题,本文将显式模型预测控制(EMPC)算法应用到三自由度直升机的飞行控制。之前显式模型预测控制的研究大多局限在数值仿真层面,本文在数值仿真的基础上,通过硬件在回路实验(HIL)验证了算法的有效性,丰富了显式模型预测控制的应用。本文的主要工作如下:1.详细介绍了三自由度直升机系统的结构及主要组成部分。在此基础上,分别分析了理想情况下三自由度直升机三个轴处于稳定飞行位置时的动力学方程,建立了直升机系统的数学模型。线性化模型后得到系统的状态空间模型。2.针对常规飞行控制器不能有效处理状态约束、输入输出约束以及操作延时等问题,本文提出三自由度直升机的预测控制。但由于传统的预测控制需要反复在线优化,计算量大,不适用于规模较大或动态变化较快的系统,所以本文采用显式预测控制算法。通过引入多参数二次规划,显式预测控制算法将反复在线优化问题离线化。在线计算也简化为简单的查表过程。本文详细介绍了显式模型预测控制的原理并结合数值实例展示了离线计算分区的过程,其中在线计算的几种方法也做了详细的介绍。3.姿态控制器设计和数值仿真。设计姿态调节控制器和跟踪控制器,并进行数值仿真。控制器设计详细讲述了控制参数的设置和选取,以及参数对离线计算、控制效果的影响。跟踪的数值仿真研究了跟踪不同类型信号的跟踪效果,包括矩形波信号和正弦波信号。4.硬件在回路实验。数值仿真的基础上,通过硬件在回路实验对理论进行进一步验证。实验根据设计好的控制器分别对三自由度直升机进行姿态调节和跟踪。跟踪部分分别跟踪矩形波信号和正弦波信号,为分析显式模型预测控制的控制效果,引入PID控制进行对比。直升机在飞行中常会受到各种干扰的影响,因此控制器的抗干扰就成为衡量控制器优良的重要指标。为考察显式模型预测控制的抗干扰性,论文分两方面研究了飞行控制器的抗干扰性:首先,调节稳定后,通过添加外界手动干扰和ADS(Active Disturbance System)干扰系统来验证控制器对突发干扰和持续干扰的抗干扰性;其次,跟踪正弦波时,通过开启ADS加以验证。5.总结了全文的工作并展望了将来可以开展的工作方向和研究目标。
[Abstract]:The helicopter can hover at a fixed point and take off and land vertically, so it has a wide range of applications in both military and civil fields. It is very important to study the helicopter flight system. However, the study of helicopter flight system is challenging because it is a typical multi-input multi-output system with strong coupling and nonlinear characteristics. Aiming at the problems encountered in the design of helicopter flight controller, this paper applies the explicit model predictive control (EMPC) algorithm to the flight control of the helicopter with three degrees of freedom. Previous researches on explicit model predictive control are mostly confined to numerical simulation. Based on the numerical simulation, this paper verifies the validity of the algorithm by hardware in loop experiment and enriches the application of explicit model predictive control. The main work of this paper is as follows: 1. The structure and main components of the three-DOF helicopter system are introduced in detail. On this basis, the dynamic equations of a helicopter with three axes of three degrees of freedom in a stable flight position under ideal conditions are analyzed, and the mathematical model of the helicopter system is established. After linearization, the state space model of the system is obtained. Aiming at the problem that the conventional flight controller can not deal with the state constraints, the input and output constraints and the operation delay effectively, this paper presents a predictive control of a three-degree-of-freedom helicopter. But because the traditional predictive control needs repeated on-line optimization and large computation, it is not suitable for large scale or fast dynamic system, so the explicit predictive control algorithm is adopted in this paper. By introducing multi-parameter quadratic programming, explicit predictive control algorithm is used to de-line the repeated on-line optimization problem. Online computing is also simplified as a simple table-searching process. In this paper, the principle of explicit model predictive control is introduced in detail, and the process of off-line computing partition is demonstrated with numerical examples, among which several online computing methods are also introduced in detail. Attitude controller design and numerical simulation. The attitude controller and tracking controller are designed and simulated. The controller design describes the setting and selection of control parameters in detail, as well as the influence of parameters on off-line calculation and control effect. The tracking effect of different kinds of signals, including rectangular wave signal and sine wave signal, is studied by numerical simulation. Hardware in loop experiment. On the basis of numerical simulation, the theory is further verified by hardware in loop experiment. According to the designed controller, the three-degree helicopter attitude adjustment and tracking are carried out in the experiment. The tracking part tracks the rectangular wave signal and the sine wave signal respectively. In order to analyze the control effect of explicit model predictive control, PID control is introduced for comparison. Helicopter is often affected by various kinds of interference in flight, so the anti-jamming of the controller becomes an important index to measure the excellent performance of the controller. In order to investigate the anti-interference performance of explicit model predictive control, the anti-jamming performance of flight controller is studied in two aspects: first, after adjusting and stabilizing, By adding external manual interference and ADS(Active Disturbance system jamming system to verify the disturbance of controller to burst interference and continuous interference. Secondly, when tracking sine wave, ADS is turned on to verify. 5. The work of this paper is summarized and the future work direction and research goal are prospected.
【学位授予单位】：浙江工业大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：V249.1

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