Optimal design of helicopter flight control based on augmented LQR
In order to improve the stability of helicopter and suppress the strong coupling phenome-non between channels,the idea of increasing stability before control is adopted to design the stabili-zing and flight controller.In the aspect of stability augmentation,LQR method based on particle swarm optimization is established.By optimizing the parameters of weight matrix,the calculated feedback matrix is close to that of classical stability augmentation control,and the stability of the system is improved.In the aspect of flight controller design,the inner and outer loops of speed con-trol/trajectory control are built.The results show that the combination of augmented LQR(ALQR)method and model tracking control not only eliminates the steady-state error of tracking signal by in-troducing error signal,but also realizes the decoupling between channels and the speed control of in-ner loop because of designing a model with excellent response quality.A trajectory tracking control of the outer loop based on multi-channel PID is constructed,which realizes the tracking of complex trajectories while ensuring excellent decoupling characteristics.
stability augmentation controlparticle swarm optimizationALQRmodel following
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