Dynamic modelling and optimal control of a twin rotor MIMO system

被引：39

作者：

Ahmad, SM ^{[1
]}

Chipperfield, AJ ^{[1
]}

Tokhi, MO ^{[1
]}

机构：

[1] Univ Sheffield, Dept Automat Control & Syst Engn, Sheffield S1 3JD, S Yorkshire, England

来源：

PROCEEDINGS OF THE IEEE 2000 NATIONAL AEROSPACE AND ELECTRONICS CONFERENCE: ENGINEERING TOMORROW | 2000年

关键词：

linear identification; twin rotor MIMO system; LQG; feedforward control; helicopter;

D O I：

10.1109/NAECON.2000.894937

中图分类号：

V [航空、航天];

学科分类号：

08 ; 0825 ;

摘要：

A dynamic model for the characterising of a one-degree-of-freedom (DOF) min rotor MIMO system (TRMS) in hover is extracted using a black-box system identification technique. The behaviour of the TRMS in certain aspects resembles that of a helicopter. Hence, it is an interesting identification and control problem. Identification for a 1-DOF rigid-body, discrete-time linear model is presented. The extracted model is employed in the design of a feedback LQG compensator. This has a good tracking capability, but requires high control effort and has inadequate authority over residual vibration of the system. These problems are resolved by further augmenting the system with a command path prefilter. The combined feedforward and feedback compensator satisfies the performance objectives and obeys the actuator constraint.

引用

页码：391 / 398

页数：8