【摘要】 首先提出了 MIMO非线性系统反馈线性化与连续滑模控制方法 ,它通过动态增广将系统不连续的滑模控制变为连续控制 ,可减小颤动控制对系统造成的不利影响。然后用其为某型直升机的垂直飞行模态设计了鲁棒控制律 ,并进行了仿真研究。结果表明 ,所设计的控制律能保证直升机稳定跟踪给定输入 ,且具有较强的鲁棒性。更多还原

【Abstract】 Helicopter Model is a MIMO nonlinear system with strong coupling. In order to make the system follow the given input quickly and stably, it is necessary to decouple the system and improve its robustness. First, a continuous sliding mode control method based on feedback linearization is presented in this paper. The feedback linearization methods are used to realize the coupling control for a MIMO nonlinear system; a discontinuous sliding mode control can be changed into a continuous one by extending the nonlinear system, thus the system′s robustness can be enhanced. Then, a control system for the vertical flight mode of a helicopter is designed by the method mentioned above and the simulation results are also provided. The results show good agreement between the theoretical analysis and simulation results. The designed helicopter can track the given input very well as shown in Fig.2更多还原