CN107037727A - A kind of big envelope curve adaptive gain dispatching method of depopulated helicopter - Google Patents
A kind of big envelope curve adaptive gain dispatching method of depopulated helicopter Download PDFInfo
- Publication number
- CN107037727A CN107037727A CN201710146380.3A CN201710146380A CN107037727A CN 107037727 A CN107037727 A CN 107037727A CN 201710146380 A CN201710146380 A CN 201710146380A CN 107037727 A CN107037727 A CN 107037727A
- Authority
- CN
- China
- Prior art keywords
- parameter
- controller
- matrix
- controlled device
- gain
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Artificial Intelligence (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Evolutionary Computation (AREA)
- Medical Informatics (AREA)
- Software Systems (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Feedback Control In General (AREA)
Abstract
The present invention relates to a kind of big envelope curve adaptive gain dispatching method of depopulated helicopter.Comprise the following steps：Controlled device is converted into Linear parameter-varying modeling of turbo P0(θ)；Choose loop and form compensator, the open loop object P (θ) after being compensated；There to be probabilistic controlled device to be expressed as LFT forms；Carry out robust gain scheduling design.The present invention directly designs a controller, rather than the local control race designed by LTI method combines to form controller.2nd, the present invention provides an open frame structure unlike traditional gain scheduling approach, and LPV methods are usually using the performance metric based on norm, and particularly, induction L2 norms are widely used as performance metric.
Description
Technical field
The present invention relates to unmanned aerial vehicle (UAV) control field, specifically a kind of big envelope curve adaptive gain scheduling of depopulated helicopter
Method.
Background technology
At present, the design of domestic and international depopulated helicopter full envelope flight control system control law is most of uses traditional increasing
Beneficial scheduler program (gain schedule) scheme, particularly domestic winged control are designed all using this method.Past recognizes always
A kind of open loop Self Adaptive Control for gain scheduling because under many circumstances, the dynamic characteristic of process with process operation bar
Part and change, but the relation of this change is that oneself knows.A kind of reason of dynamic characteristic change is by known nonlinear characteristic
Caused, at this moment, we can just change the parameter of controller by the service condition of monitoring process, and this thought is known as increasing
Benefit scheduling.Compensating parameter change or object oneself know non-linear aspect, the gain scheduling based on the measurement to process operation condition
Control is typically a kind of effective method.Gain scheduling oneself proved highly effective and made extensively by many successful engineering practice
A kind of method, its advantage is not limited by computer speed.
The thought of traditional whole envelope gain scheduling Design of Flight Control is, using multiple linear controllers come approximate
Substitute required gamma controller.Because the kinetic equation of aircraft can not use a linear model in whole flight envelope
Represent, so choosing many features design point first in flight envelope, model of the aircraft on these design points can be approximate
Linear model, is then separately designed on each design point using traditional controller design method (such as PID, LQ method)
Go out a linear controller.Therefore, the nonlinear influence of aircraft power equation can pass through cutting between these linear controllers
Bring and overcome.Eventually through predetermined program (parameter of such as controller is the function of aircraft current state) in these Linear Controls
The interpolation of device, obtains a complete Nonlinear control law.But this large envelope flight control system gain scheduling scheme has
Very big defect.Main aspect therein includes：1st, gain scheduler must choose tens even in whole flight envelope
Up to a hundred design points, design a linear controller on each design point, therefore the design cycle is long, and repeated work
It is more, work loaded down with trivial details.2nd, calculated by optimum control scheduling theory, corresponding to the limited discrete state of flight point tried to achieve respectively most
Excellent control, can not possibly cause that the Control platform of thru-flight state is optimal by gain scheduler.More seriously, increase
The strict theoretical proof of beneficial scheduler program deficient in stability, on some off-design points, flight quality is very severe, even not
Stable.Therefore, this method verifies that the stability and performance of aircraft refer to generally by substantial amounts of emulation and flight test
Mark.3rd, on how to choose design point problem, and distribution problem of the design point on flight envelope in whole flight envelope,
Gain scheduling does not have a set of perfect theory to follow, and this brings very big difficulty to design.4th, gain scheduling design is applicable
Condition is that aircraft parameter change is slow, and conventional military aircraft is typically satisfied by, but to advanced high maneuver agility opportunity of combat
Speech, its Parameters variation is not slow.5th, existing gain-scheduling approach, it is basic to adjust ginseng or by height and Mach using by dynamic pressure
Number adjusts ginseng.The controller that classical control design case method is designed is easier to adjust and joined, but robust controller (such as H-inf
Deng), not obvious structure or parameter come supply adjustment.
In a word, gain scheduling control is to compensate oneself to know a kind of effective ways of nonlinear characteristic, in this scheme, regulation
Device can make quick reaction to the service condition of change, but the parameter for being limited in that controller of gain scheduling approach is
Change by open loop approach, not the feedback effect from Performance of Closed Loop System, when dynamic characteristic of the course is known with disturbance characteristic
When obtaining not accurate enough, this method does not just reach expected effect.Because the parameter of gain scheduling control is in an open-loop manner
Change, so it is still disputable whether to should be regarded as Adaptable System using gain scheduling control system, some scholars it is thought that
A kind of certain types of dead-band regulator.It is contemplated that, as novel high-performance aircraft becomes increasingly complex, in the future using tradition
Gain scheduling approach can be more and more difficult.
Traditional gain scheduling design is generally using the dividing into many linear subtasks by Nonlinear Design Task-decomposing
And control its (divide and conquer) method, i.e., it is that nonlinear system is linearized in each operating point first, is then directed to
The suitable linear controller of each operating point design, finally combines these linear controller races whole non-to control
Linear system.
Advantage：Linear robust control method can be dissolved into Design of non-linear controllers by it, be adjusted in traditional gain
In degree design, observer can be such as based on using any suitable linear controller design on local control
State feedback controller design, H infinity controller design etc..
Difficult point：Local control how to be connected to realize the control to whole nonlinear system, it is general with switchover policy and
Interpolation method.Switchover policy is to solve to form a dispatch list after multiple exemplary operation points, and system makes in different operation areas
It is controlled with different controllers；Interpolation method enters row interpolation between linear controller, forms global non-linear control
Device processed.
It is not enough：1st, in local linear controller design, it is necessary to assure scheduling variable is slowly varying, but for
" slow " does not have a clearly definition, and the scheduling variable of present aircraft is not usually slowly varying；Though the 2nd,
It can be so designed in exemplary operation point using a variety of linear controller design methods, but not know how to design linear
Controller make it that after interpolation whole controlled system shows preferable performance；3rd, the linear control that exemplary operation point is designed
Device processed can only ensure operating point regional system performance, and the controller performance in other regions has no idea to carry out stability to prove,
Substantial amounts of simulating, verifying can only be passed through.
Control system as shown in Figure 1 can be described as：
Wherein, θ is scheduling variable.
Controller：
The design method of controller mainly has two kinds：1. based on the small gain algorithm that LFT/H is infinite；2. Liapunov letter
Number/secondary H infinity performance scheme.Its advantage is embodied in：Controller ensure that certain in pre-defined range of operation
Stability and performance.Weak point is embodied in：1.LPV gain schedulings are complicated, are unfavorable for realizing and on-line tuning；2. gain
Scheduling Design process is complicated, is difficult to grasp for project planner.
The content of the invention
For in place of above shortcomings in the prior art, the technical problem to be solved in the present invention is to provide it is a kind of nobody
The big envelope curve adaptive gain dispatching method of helicopter.
The technical scheme that is used to achieve the above object of the present invention is：A kind of big envelope curve adaptive gain of depopulated helicopter
Dispatching method, comprises the following steps：
Controlled device is converted into Linear parameter-varying modeling of turbo P0(θ)；
Choose loop and form compensator, the controlled device P (θ) of the open loop after being compensated；
There to be probabilistic controlled device to be expressed as LFT forms；
Carry out robust gain scheduling design.
The Linear parameter-varying modeling of turbo P0(θ) is：
Y (t)=(C+ δ C) x (t)+(D+ δ D) u (t)
Wherein, A, B, C, D are the known real constant matrix unrelated with parameter；X (t) is system state variables,To be
The derivative for state variable of uniting, y (t) exports for system, and u (t) is control input, and δ A, δ B, δ C, δ D are ginsengs in reflection system model
The probabilistic unknown real matrix of number, with following form：
△ in above formula is uncertain parameter matrix, and the diagonal matrix that as scheduling variable θ is constituted meets Δ ∈ RH∞, and | |
Δ||∞≤ γ, γ are the constant more than 0；E1、E2、H、F1And F2It is constant matrices.
The controlled device of open loop after the compensation is：
P (θ)=P0(θ)W1(θ)
Wherein, W1(θ) is compensator.
The controlled device of open loop after the compensation is state-space expression form：
Wherein, A (θ), B (θ), C (θ), D (θ) are system model parameter, and θ is scheduling variable.
The LFT forms have probabilistic controlled device be：
Wherein, A, B, C, D are the known real constant matrix unrelated with parameter；S is complex frequency domain vector, and I is unit matrix, δ
A, δ B, δ C, δ D are the unknown real matrixes for reflecting parameter uncertainty in system model, with following form：
△ in above formula is uncertain parameter matrix, and the diagonal matrix that as scheduling variable θ is constituted meets Δ ∈ RH∞, and | |
Δ||∞≤ γ, γ are the constant more than 0；E1、E2、H、F1And F2It is constant matrices；
According to small gain theorem, controlled device P (θ)=PΔ=Fu(P,Δ)。
The robust gain scheduling design is the output feedback of design one H∞ControllerSo thatWherein augmented plant is：
Wherein, u is feedback H∞The output signal of controller, y is feedback H∞The input signal of controller,For control
Device, P is system augmented matrix, and γ is the constant more than zero, and A, B, C, D are the known real constant matrix unrelated with parameter, E1、E2、
H、F1And F2It is constant matrices.
The present invention has advantages below and beneficial effect：
1st, the present invention directly designs a controller, rather than the local control race designed by LTI method
Combine to form controller.
2nd, the present invention provides an open frame structure unlike traditional gain scheduling approach, and LPV methods are usual
Using the performance metric based on norm, particularly, induction L2 norms are widely used as performance metric.
3rd, the present invention in design method more uses Modern Design Technology, H2, H infinity control such as under parameter dependence framework
System.The parameter set of permission is processed in a straightforward manner.The controller so obtained can in pre-defined range of operation
Ensure certain stability and performance.
Brief description of the drawings
Fig. 1 is control principle drawing of the prior art；
Fig. 2 is the inventive method flow chart；
Fig. 3 is loop compensation control principle drawing；
Fig. 4 is robust controller structural representation.
Embodiment
Below in conjunction with the accompanying drawings and embodiment the present invention is described in further detail.
As shown in Fig. 2 a kind of big envelope curve adaptive gain dispatching method of depopulated helicopter, comprises the following steps：
1. construct LPV models
Controlled device is converted into linear variation parameter's (LPV) model P0(θ), can be with if the nonlinear model of known object
By being linearized in equalization point, the form of the transmission function containing scheduling variable θ is then fitted to by interpolation method again.
The description form that LPV models can be expressed as：
Y (t)=(C+ δ C) x (t)+(D+ δ D) u (t)
Wherein, A, B, C, D are the known real constant matrixes unrelated with parameter；X (t) is state variable,Become for state
The derivative of amount, y (t) is state output amount, and u (t) inputs for controller, and δ A, δ B, δ C, δ D are to reflect that parameter is not in system model
Deterministic unknown real matrix, with following form：
△ in above formula is uncertain parameter matrix, and the diagonal matrix that as scheduling variable θ is constituted meets Δ ∈ RH∞, and | |
Δ||∞≤ γ, γ are the constant more than 0；E1、E2、H、F1And F2It is constant matrices, reflects the structural information of uncertain parameter.
2nd, Loop analysis compensator is chosen
To LPV systems, to each fixed value of scheduling variable, it is a linear time invariant system that system, which can be assumed that, therefore
Can be according to the front/rear compensator instructed according to certain experience selection suitably.Compensator is the mapping of scheduling variable, preferable feelings
Condition be open loop-shaped after compensating all parameters of LPV all, but this in actual design due to system non-linear it is difficult to
Realize.In view of being disturbed generally in low-frequency range in industrial process, therefore the compensator function dependent on parameter may be selected in we, makes
Open cycle system has singular value shape as shown in Figure 3 after must compensating, and to all parameters, shape phase of the open loop in low-frequency range
Seemingly.For convenience, generally we only consider predistorter W1(θ) (typically can be taken as PI forms), and the open loop object after compensation is：
P (θ)=P0(θ)W1(θ)
As shown in figure 3, θ is scheduling variable, W in the structure1(θ) designed for Loop analysis in compensator, the purpose is to
Make the system after compensation that there is desired performance；Backfeed loopRobust controller is fixed for one, the purpose is to make after compensation
System has desired robustness.It can be seen that gain scheduling part only occurs in W in the structure1In (θ), due to Loop analysis design
Middle compensator generally can be taken as low order, such as PI controllers, and high order partIt is fixed, therefore gaing scheduling control obtains
To greatly simplifying.
Advantage：1st, systematic function is embodied in low order compensator W1In (θ), therefore the on-line tuning of parameter is easier to.PI shapes
The compensator of formula can more receive for engineering staff.2nd, it is also contemplated that the problem of controller export-restriction when controller is realized, high-order
Controller anti-windup saturation be difficult realize, and the anti-windup saturation measure of PI controllers implement it is extremely simple.
3rd, robust gain scheduling design
Open loop object after the compensation obtained in previous step is converted into state-space expression form：
Because we require that system must all be stablized to all parametric variables, parametric variable is regarded as uncertain, can be with
Design a robust controller to realize the control to this LPV system using small gain theorem, its structure is as shown in Figure 4.For flying
Machine is in big flight envelope, and model parameter can be changed by height and Mach number etc..It is commonly designed based on running parameter
Model aircraft, model parameter is higher, causes to be difficult to Project Realization, it is therefore proposed that a kind of set up using linear fraction transformation (LFT)
The method of the flight control system of Parameter uncertainties model.
Following LFT (linear fraction transformation) form can be expressed as with probabilistic controlled device：
According to small gain theorem, due to controlled device P (θ)=PΔ=Fu(P, Δ), gain scheduling design is converted into design
One output feedback H∞ControllerSo thatWherein augmented plant is：
4th, final gain scheduling control structure is constituted.
Claims (6)
1. a kind of big envelope curve adaptive gain dispatching method of depopulated helicopter, it is characterised in that comprise the following steps：
Controlled device is converted into Linear parameter-varying modeling of turbo P0(θ)；
Choose loop and form compensator, the controlled device P (θ) of the open loop after being compensated；
There to be probabilistic controlled device to be expressed as LFT forms；
Carry out robust gain scheduling design.
2. a kind of big envelope curve adaptive gain dispatching method of depopulated helicopter according to claim 1, it is characterised in that institute
State Linear parameter-varying modeling of turbo P0(θ) is：
Y (t)=(C+ δ C) x (t)+(D+ δ D) u (t)
Wherein, A, B, C, D are the known real constant matrix unrelated with parameter；X (t) is system state variables,For system mode
The derivative of variable, y (t) exports for system, and u (t) is control input, and δ A, δ B, δ C, δ D are to reflect that parameter is not true in system model
Qualitatively unknown real matrix, with following form：
△ in above formula is uncertain parameter matrix, and the diagonal matrix that as scheduling variable θ is constituted meets Δ ∈ RH∞, and | | Δ |
|∞≤ γ, γ are the constant more than 0；E1、E2、H、F1And F2It is constant matrices.
3. a kind of big envelope curve adaptive gain dispatching method of depopulated helicopter according to claim 1, it is characterised in that institute
Stating the controlled device of open loop after compensation is：
P (θ)=P0(θ)W1(θ)
Wherein, W1(θ) is compensator.
4. a kind of big envelope curve adaptive gain dispatching method of depopulated helicopter according to claim 3, it is characterised in that institute
The controlled device for stating the open loop after compensation is state-space expression form：
Wherein, A (θ), B (θ), C (θ), D (θ) are system model parameter, and θ is scheduling variable.
5. a kind of big envelope curve adaptive gain dispatching method of depopulated helicopter according to claim 1, it is characterised in that institute
State LFT forms have probabilistic controlled device be：
Wherein, A, B, C, D are the known real constant matrix unrelated with parameter；S be complex frequency domain vector, I be unit matrix, δ A, δ B,
δ C, δ D are the unknown real matrixes for reflecting parameter uncertainty in system model, with following form：
△ in above formula is uncertain parameter matrix, and the diagonal matrix that as scheduling variable θ is constituted meets Δ ∈ RH∞, and | | Δ |
|∞≤ γ, γ are the constant more than 0；E1、E2、H、F1And F2It is constant matrices；
According to small gain theorem, controlled device P (θ)=PΔ=Fu(P,Δ)。
6. a kind of big envelope curve adaptive gain dispatching method of depopulated helicopter according to claim 1, it is characterised in that institute
It is the output feedback of design one H to state robust gain scheduling design∞ControllerSo that
Wherein augmented plant is：
Wherein, u is feedback H∞The output signal of controller, y is feedback H∞The input signal of controller,For controller, P is
System augmented matrix, γ is the constant more than zero, and A, B, C, D are the known real constant matrix unrelated with parameter, E1、E2、H、F1With
F2It is constant matrices.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710146380.3A CN107037727A (en) | 2017-03-13 | 2017-03-13 | A kind of big envelope curve adaptive gain dispatching method of depopulated helicopter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710146380.3A CN107037727A (en) | 2017-03-13 | 2017-03-13 | A kind of big envelope curve adaptive gain dispatching method of depopulated helicopter |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107037727A true CN107037727A (en) | 2017-08-11 |
Family
ID=59533655
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710146380.3A Pending CN107037727A (en) | 2017-03-13 | 2017-03-13 | A kind of big envelope curve adaptive gain dispatching method of depopulated helicopter |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107037727A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107783543A (en) * | 2017-11-06 | 2018-03-09 | 贾杰 | A kind of depopulated helicopter Loop analysis full envelope flight control method |
| CN108646548A (en) * | 2018-03-21 | 2018-10-12 | 中国科学院自动化研究所 | The design method and device of Flight Control Law |
| CN109870912A (en) * | 2018-03-15 | 2019-06-11 | 浙江工业大学 | It is a kind of using it is asymmetric when constraint independent of time function Spacecraft Attitude Control |
| CN110161855A (en) * | 2019-05-21 | 2019-08-23 | 中国电子科技集团公司第三十八研究所 | A kind of design method based on robust servo gain scheduling unmanned aerial vehicle (UAV) control device |
| CN115128966A (en) * | 2022-04-11 | 2022-09-30 | 厦门大学 | Design method and simulation method of turbofan engine full-envelope controller |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102323754A (en) * | 2011-07-29 | 2012-01-18 | 北京理工大学 | Robust gain scheduling control method based on regional pole assignment |
| CN103558763A (en) * | 2013-11-19 | 2014-02-05 | 哈尔滨工业大学 | System control method for pole regional placement based on LTI uncertain model |
| CN103760906A (en) * | 2014-01-29 | 2014-04-30 | 天津大学 | Control method for neural network and nonlinear continuous unmanned helicopter attitude |
| CN104407515A (en) * | 2014-11-13 | 2015-03-11 | 华南理工大学 | LMIs state feedback system control method based on uncertain model |
| CN105955025A (en) * | 2016-05-30 | 2016-09-21 | 北京航空航天大学 | Interference compensation and inhibition method for generalized uncertain system |
-
2017
- 2017-03-13 CN CN201710146380.3A patent/CN107037727A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102323754A (en) * | 2011-07-29 | 2012-01-18 | 北京理工大学 | Robust gain scheduling control method based on regional pole assignment |
| CN103558763A (en) * | 2013-11-19 | 2014-02-05 | 哈尔滨工业大学 | System control method for pole regional placement based on LTI uncertain model |
| CN103760906A (en) * | 2014-01-29 | 2014-04-30 | 天津大学 | Control method for neural network and nonlinear continuous unmanned helicopter attitude |
| CN104407515A (en) * | 2014-11-13 | 2015-03-11 | 华南理工大学 | LMIs state feedback system control method based on uncertain model |
| CN105955025A (en) * | 2016-05-30 | 2016-09-21 | 北京航空航天大学 | Interference compensation and inhibition method for generalized uncertain system |
Non-Patent Citations (2)
| Title |
|---|
| 傅彩芬等: ""基于回路成形的鲁棒增益调度控制器设计"", 《信息与控制》 * |
| 李中健: ""大包线飞行控制系统鲁棒设计研究"", 《中国优秀博硕士学位论文全文数据库 工程科技Ⅱ辑》 * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107783543A (en) * | 2017-11-06 | 2018-03-09 | 贾杰 | A kind of depopulated helicopter Loop analysis full envelope flight control method |
| CN109870912A (en) * | 2018-03-15 | 2019-06-11 | 浙江工业大学 | It is a kind of using it is asymmetric when constraint independent of time function Spacecraft Attitude Control |
| CN108646548A (en) * | 2018-03-21 | 2018-10-12 | 中国科学院自动化研究所 | The design method and device of Flight Control Law |
| CN110161855A (en) * | 2019-05-21 | 2019-08-23 | 中国电子科技集团公司第三十八研究所 | A kind of design method based on robust servo gain scheduling unmanned aerial vehicle (UAV) control device |
| CN115128966A (en) * | 2022-04-11 | 2022-09-30 | 厦门大学 | Design method and simulation method of turbofan engine full-envelope controller |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107037727A (en) | A kind of big envelope curve adaptive gain dispatching method of depopulated helicopter | |
| CN108803336B (en) | Design method of self-adaptive LQG/LTR controller of aircraft engine | |
| CN112286047B (en) | NARMA-L2 multivariable control method based on neural network | |
| CN110579962B (en) | Turbofan engine thrust prediction method based on neural network and controller | |
| CN110348079B (en) | Turboshaft engine steady state open loop control design method based on machine learning algorithm | |
| Tunik et al. | Parametric robust optimization of digital flight control systems | |
| Bierling | Comparative analysis of adaptive control techniques for improved robust performance | |
| Liu et al. | Model reference adaptive control for aero-engine based on system equilibrium manifold expansion model | |
| CN103809446B (en) | Aircraft multiloop model bunch Flutter Suppression combination frequency robust Controller Design method | |
| Zhang et al. | Longitudinal attitude controller design for aircraft landing with disturbance using ADRC/LQR | |
| CN114545778A (en) | Helicopter robust tracking control method based on LPV model | |
| CN103792848B (en) | Longitudinal Flight model cluster man-machine loop compound root locus multistage PID robust Controller Design method | |
| CN103809433B (en) | The multistage PID robust Controller Design method of aircraft multiloop model bunch compound root locus | |
| CN103777523B (en) | Aircraft multiloop model bunch Composite PID robust Controller Design method | |
| Qiu et al. | Robust hybrid Controller design based on feedback linearization and µ synthesis for UAV | |
| CN103809434A (en) | Design method of longitudinal flight model cluster composite root-locus multi-level PID (proportion integration differentiation) controller | |
| CN103809442A (en) | Method for designing composite frequency robust controller for multi-loop model cluster of aircraft | |
| CN103809448A (en) | Method for designing flutter-suppression composite root locus compensation robust controller for multi-loop model cluster of aircraft | |
| CN110609568A (en) | Strong self-coupling PI cooperative control method for large unmanned aerial vehicle UAV | |
| Li et al. | LQR and fuzzy gain-scheduling based attitude controller for RLV within large operating envelope | |
| CN103853049B (en) | Longitudinal Flight model cluster combination frequency robust Controller Design method | |
| CN103823364B (en) | Aircraft multiloop model bunch compound root locus compensates robust Controller Design method | |
| CN103823367B (en) | Longitudinal Flight model cluster Flutter Suppression combination frequency robust Controller Design method | |
| CN103823374B (en) | Aircraft multiloop model bunch compound root locus compensating controller method for designing | |
| Liao et al. | Auto-tuning for cascade PID height position controller of rotorcraft |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170811 |
|
| RJ01 | Rejection of invention patent application after publication |