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从研究倾转旋翼机的飞行动力学模型入手,通过引入模型缝合的思想,利用非线性的方法实现由有限固定线性模型拟合任意工作点处的模型响应,提高了倾转旋翼机飞行动力学计算的实时性,并得到多模型控制的模型集;其次基于规范互质分解理论、H∞回路成形设计技术对多输入多输出系统进行通道解耦控制研究,针对不同飞行工况的工作点分别设计H∞回路成形控制器。最后,采用加权求和的控制策略实现控制律的平滑切换,通过仿真验证了设计的多模型控制系统具有良好的控制能力。
Starting with the study of the flight dynamics model of tilting rotorcraft, by introducing the idea of model suture and using the nonlinear method, the model response at any working point can be fitted by a finite fixed linear model, and the flight dynamics of the tilting rotorcraft are improved The real-time calculation, and get the multi-model control model set; secondly, based on the theory of standard coprime decomposition, H∞ loop forming design of multi-input and multi-output system for channel decoupling control study for different operating conditions of flight conditions respectively Design H ∞ loop forming controller. Finally, the control strategy of weighted summation is adopted to realize the smooth switching of control law. Simulation results show that the designed multi-model control system has good control ability.