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| 基于RLS算法的小型无人直升机悬停自适应逆控制 | |
| 引用本文： | 李劲松,宋立博,吕恬生,颜国正. 基于RLS算法的小型无人直升机悬停自适应逆控制[J]. 实验室研究与探索, 2011, 30(8): 57-62 |
| 作者姓名： | 李劲松 宋立博 吕恬生 颜国正 |
| 作者单位： | 1. 上海交通大学 工程训练中心,上海 200240;上海交通大学 电子信息与电气工程学院,上海 200240 2. 上海交通大学 工程训练中心,上海,200240 3. 上海交通大学 电子信息与电气工程学院,上海,200240 |
| 基金项目： | 国家自然科学基金项目(51005147/E050103); 上海交通大学17期PRP项目(T41017008) |
| 摘 要： | 为了抑制小型无人直升机在悬停控制中遇到的侧风等干扰,将自适应逆控制(AIC)理论引入其中,并针对小型无人直升机在悬停状态下的模型特性及控制器的鲁棒性设计问题,改进了自适应逆控制框图。同时,根据小型无人直升机悬停基本原理,搭建了悬停试飞平台,并利用Kane方法对小型无人直升机进行了动力学建模。在算法上采用递推最小二乘算法(RLS)对小型无人直升机进行参数辨识和控制器的设计。实验结果表明,AIC-RLS方法在消除侧风等干扰性能上优于PID控制器。室外平台悬停控制的实现证明了上述方法的有效性。 |
| 关 键 词： | 小型无人直升机 动力学建模 自适应逆控制 递推最小二乘算法 悬停控制 |
Hovering Adaptive Inverse Control of Unmanned Small Size Helicopter Based on RLS Algorithm |
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| LI Jin-song,SONG Li-bo,LU Tian-sheng,YAN Guo-zheng. Hovering Adaptive Inverse Control of Unmanned Small Size Helicopter Based on RLS Algorithm[J]. Laboratory Research and Exploration, 2011, 30(8): 57-62 | |
| Authors: | LI Jin-song SONG Li-bo LU Tian-sheng YAN Guo-zheng |
| Affiliation: | b (a.Engineering Training Center; b.School of Electronic,Information and Electrical Engineering, Shanghai Jiaotong University,Shanghai 200240,China) |
| Abstract: | Adaptive inverse control(AIC) theory was introduced to inhibit interferences su ch as side wind during hovering control for small-sized unmanned helicopter.Ba sed on this theory,an AIC control block diagram was improved to accommodate wit h the characteristics of helicopter hovering model and robust design.According to the structure and fundamental theory of small-sized unmanned helicopter,a h over flight experimental platform was built.Also,the translation equations wer e the rotation equations were derive... |
| Keywords: | unmanned small size helicopter dynamical modeling adaptive inverse control(A IC) recursive least square algorithm(RLS) hovering control |
| 本文献已被 CNKI 万方数据 等数据库收录！ | |