【摘要】 针对直升机强耦合特性导致飞行控制律设计难度高的问题,提出了一种基于粒子群优化算法的改进线性二次型调节器(Linear quadratic regulator,LQR)设计方法。针对直升机的线化状态空间模型,基于LQR设计方法建立了直升机飞行控制律全状态反馈矩阵的基本求解算法;以系统稳定性为约束,以最大化主状态反馈系数影响因子为目标,设计了粒子群优化算法的指标函数,实现了加权矩阵Q的多参数同步优化设计,并以优化后的主状态反馈系数作为直升机控制律设计结果。采用本文方法对UH-60A直升机悬停状态的飞行控制律进行了设计和验证。结果表明,基于本文方法得到的控制律具有良好的控制性能,并且能够显著提高直升机的飞行品质。同时本文的优化方法系统地解决了LQR设计过程中加权矩阵确定的困难,提高了控制律的设计效率。更多还原

【Abstract】 In order to solve the difficulties in flight control law design of a helicopter caused by its strong coupling characteristics,an improved linear quadratic regulator(LQR) design method based on particle swarm optimization algorithm is proposed. Based on the linearized state space model of a helicopter,a basic algorithm to solve the full state feedback matrix in helicopter flight control law is established based on LQR design method. A cost function for particle swarm optimization,which maximizes the influence factor of main state feedback coefficients and takes the stability of the system as constraint,is designed. The multiparameter synchronous optimization of weighting matrix Q is implemented,and the optimized main state feedback coefficients are used as control law design results of a helicopter. The flight control law of a UH-60 A helicopter at hover state is designed and verified. The results show that the control law designed by using this method has good performance and the flying quality of the helicopter is increased considerably. Meanwhile,the difficulty in determining weighting matrix during LQR design procedure is solved systematically based on the optimization method developed in this paper,and the efficiency in control law design is increased.更多还原