[1]杨慧萍,高贯斌,那 靖.三自由度直升机实验平台及姿态跟踪控制器设计[J].机械与电子,2015,(05):69-72.
　YANG Huiping,GAO Guanbin,NA Jing.Design of 3-DOF Helicopter Experimental Platform and the Attitude Tracking Controller[J].Machinery & Electronics,2015,(05):69-72.
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三自由度直升机实验平台及姿态跟踪控制器设计
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2015年05期
页码:
69-72
栏目:
自动控制与检测
出版日期:
2015-05-25

文章信息/Info

Title:
Design of 3-DOF Helicopter Experimental Platform and the Attitude Tracking Controller
文章编号:
1001-2257(2015)05-0069-04
作者:
杨慧萍; 高贯斌; 那 靖
(昆明理工大学机电工程学院,云南 昆明 650500 )
Author(s):
YANG Huiping; GAO Guanbin; NA Jing
(Faculty of Mechanical and Electrical Engineering,Kunming University of Science and Technology,Kunming 650500,China)
关键词:
三自由度直升机;  状态反馈跟踪控制器;  神经网络自适应控制器;  实时检测
Keywords:
3-DOF helicopter;  sate feedback tracking controller;  neural network adaptive controller;  real-time detection
分类号:
TP273
文献标志码:
A
摘要:
介绍了设计的三自由度直升机模型的系统构成,建立了系统的俯仰轴控制模型,并依此设计了俯仰轴的状态反馈跟踪控制器与神经网络自适应控制器。为实现设备的在线实时控制编写了基于VC的上位机软件用于控制设备、调试参数以及观察系统的姿态跟踪控制效果。基于Matlab将两种控制器仿真后在实验平台上验证并对比分析,实验结果表明,神经网络自适应控制器能更稳定更好地实现三自由度直升机的姿态跟踪控制。
Abstract:
This paper introduce the system constitution of 3-DOF helicopter,establish the control model of pitch axis,and design the state feedback tracking controller and the neural network adaptive controller of the pitch axis.In order to realize the on-line real-time control,we programmed a software of the host computer based on VC.It can be used to control equipment, debug parameters and observe the tracking result of the system.The two controllers is simulated based on Matlab and verified on the experimental platform.By contrast, the results demonstrate that the neural network adaptive controller can achieve more stable tracking effect.

参考文献/References:

[1] 唐光辉,侍洪波. 三自由度直升机模型鲁棒控制器设计[J].华东理工大学学报(自然科学版),2011,37(1):105-111.
[2] 马云飞.三自由度直升机模拟装置的控制方法研究[D].沈阳:东北大学,2009.
[3] 王修岩,赵昌丽,李宗帅. 基于系统分解的三自由度直升机控制仿真研究[J].中国民航大学学报,2009,27(6):9-12.
[4] Chowdhary G,Yucelen T,Mühlegg M,et al.Concurrent learning adaptive control of linear systems with exponentially convergent bounds[J].International Journal of Adaptive Control and Signal Processing,2013,27(4):280-301.

备注/Memo

备注/Memo:
收稿日期:2014-10-31
作者简介:杨慧萍(1990-),女,山西忻州人,硕士,研究方向为检测与控制。
更新日期/Last Update: 2015-05-25