| 陈阳,王田苗,梁建宏,王超磊,张以成.基于增广LQG的小型无人直升机稳定控制[J].高技术通讯(中文),2013,23(3):277~281 |
| 基于增广LQG的小型无人直升机稳定控制 |
| Augmented LQG based stable control of a small unmanned helicopter |
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| DOI： |
| 中文关键词: 小型无人直升机， 增广线性二次高斯（LQG）， 前馈， 线性二次积分（LQI）， 飞行试验 |
| 英文关键词: small unmanned helicopter, augmented linear quadratic Gaussian (LQG), feedforward, linear quadratic integral (LQI), flight tests |
| 基金项目:863计划（2011AA040202）资助项目 |
| 作者 | 单位 | | 陈阳 | 北京航空航天大学机器人研究所 | | 王田苗 | 北京航空航天大学机器人研究所 | | 梁建宏 | 北京航空航天大学机器人研究所 | | 王超磊 | 北京航空航天大学机器人研究所 | | 张以成 | 北京航空航天大学机器人研究所 |
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| 中文摘要: |
| 针对实现小型无人直升机悬停及航线飞行的目标，在建立小型无人直升机近悬停点线性模型的基础上，通过系统辨识的方法获得了两个解耦的线性模型，并基于此设计了增广线性二次高斯（LQG）控制器。该增广LQG控制器包含三部分：一是卡尔曼滤波器，用于估计未测量状态；二是传统的线性二次积分（LQI）控制器，用于稳定内环并消除目标控制信号跟踪稳态静差；三是前馈，用于加速信号跟踪。仿真与实际飞行试验验证了基于增广的LQG控制器不仅能够镇定住无人直升机的动力学，同时能够很好地跟踪参考控制信号。 |
| 英文摘要: |
| For controlling a small unmanned helicopter to reach its goal of hovering or cruise flight, two decoupled mathematical models for the small unmanned helicopter were achieved by system identification based on the building of the helicopter’s linear model for hovering, and then an augmented linear quadratic Gaussian (LQG) controller was designed. The augmented LQG controller consists of a Kalman filter, a traditional linear quadratic integral (LQI) controller, and a feedforward term. The Kalman filter is used to estimate the unmeasured states. The integral action of the LQI is to reduce the steady state errors, and the feedforward term is used to speed up the tracking of reference signals. The simulations and the actual flight results indicate that the presented augmented LQG controller can not only stabilize the dynamics of unmanned helicopters, but also track the reference control signals well. |
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