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针对带输入饱和的直升机解耦控制问题,提出了一种改进的信息融合解耦控制算法,通过融合主通道和相应耦合通道期望输出和控制能量的软约束信息,以及系统状态方程和输出方程的硬约束信息,获得二次型性能指标下解耦控制律的最优估计,使直升机的内回路控制具有良好的动态特性和解耦性能。通过控制能量软约束信息的自适应调节,使求取的控制量满足输入饱和限制要求,避免了因输入饱和导致的解耦性能变差和驱动器过载问题。提出的信息融合控制算法基于被控对象的离散模型实现,容易应用于工程实际中。仿真结果表明了该算法的有效性。
Aiming at the decoupling control problem of helicopter with input saturation, an improved information fusion decoupling control algorithm is proposed. By combining the soft constraint information of expected output and control energy of the main channel and the corresponding coupling channel, and the system state equation and output equation Hard constraint information, obtain the optimal estimation of the decoupling control law under the quadratic performance index, so that the helicopter’s inner loop control has good dynamic characteristics and decoupling performance. By controlling the adaptive control of energy soft constraint information, the control amount can satisfy the input saturation limit, avoiding the decoupling performance degradation and driver overload caused by input saturation. The proposed information fusion control algorithm is based on the discrete model of controlled object and can be easily applied to engineering practice. Simulation results show the effectiveness of the algorithm.