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四旋翼直升机因其优良特性,在军事和民用领域均有广阔的应用前景。为确保其安全稳定飞行,针对周口师范学院自主研制的四旋翼直升机,结合其结构及动力学原理,考虑非匹配不确定性因素的影响,对三自由度四旋翼直升机进行建模。采用线性矩阵不等式技术进行变结构滑模控制系统设计,仿真结果表明,该系统抗参变能力较强,直升机的飞行姿态基本满足控制要求。
Quadrotor helicopters have broad application prospects in military and civil fields because of their excellent characteristics. In order to ensure its safe and stable flight, aiming at the quadrotor helicopter independently developed by Zhoukou Normal University, the three degrees of freedom quadrotor helicopter was modeled considering the influence of unmatched uncertainties with its structure and dynamics. The design of variable structure sliding mode control system based on linear matrix inequality (LMI) is carried out. The simulation results show that the system has strong anti-parametric ability and the flight attitude of helicopter basically meets the control requirements.