二自由度飞行姿态模拟器控制系统设计-控制科学与工程专业论文.docxVIP

Classified Index: TP273 U.D.C: 681.52 Dissertation for the Master Degree in Engineering CONTROL SYSTEM DESIGN FOR A 2-DOF AIRCRAFT ATTITUDE SIMULATOR Candidate： Tang Wen Supervisor： Associate Prof. Ban Xiaojun Academic Degree Applied for： Master of Engineering Specialty： Control Science and Engineering Affiliation： Center for Control Theory and Guidance Technology Date of Defence： June, 2015 Degree-Conferring-Institution： Harbin Institute of Technology 摘 要 二自由度飞行姿态模拟器系统在控制领域中属于复杂的控制系统，除去系 统本身机械特性，实际系统运行过程中具有复杂的空气动力学特性，以及受飞 行姿态的影响，系统体现了控制科学中常见的多变量，多输入多输出，非线性， 系统模型不确定性，耦合，参数时变以及自然不稳定等性质。本文对实验室的 飞行姿态模拟实验装置进行了深入研究，针对此对象，利用欧拉-拉格朗日方程 建立了系统的非线性动力学模型，并且根据实际装置存在的控制问题，设计了 控制器，并进行了仿真验证。 首先，分析系统整体结构，包括机械结构，电气系统，以及系统实时控制 程序，并能够调试系统，改写系统控制算法程序。根据动力学原理，利用欧拉- 拉格朗日方程对实验系统建立了多输入多输出的非线性动力学模型，并通过实 际实验，利用辨识算法确定装置中的不确定参数。 其次，针对系统非线性模型，基于非线性系统的控制理论，参考伺服系统 跟踪问题的设计思想，设计了积分型具有鲁棒性的状态反馈控制器，进行了仿 真验证。 最后，针对系统具有多个工作点，在系统工作范围内系统模型具有变参数 的特性，以及系统存在的不确定性干扰等因素，设计了具有 H???????性能指标的多 胞变增益状态反馈控制器，仿真验证了控制器的有效性。 关键词：飞行姿态实验系统；非线性；变参数系统；鲁棒变增益 Abstract The 2-DOF aircraft attitude simulator, which belongs to complicated control system in control filed. Besides its own nonlinear characteristics, there are many factors involved in control of the 2-DOF aircraft attitude model, such as intricate aerodynamics characteristics, influence of flight attitude and so on, which reflects the commonly seen multi-variables, multi-input multi-output, nonlinearity, system uncertainties, couplings, time-varying parameters, and natural instability properties, etc. Specific to these phenomena, a deep analysis of the experimental system was established in this dissertation: a nonlinear model for the 2-DOF aircraft attitude system was developed on the basis of Euler-Lagrange Equation, after which, an effective controller was designed in accordance with the existing problems in practical systems. And simulations were conducted to verify the designed controller. Firstly, a thorough analysis of the entire system, including the mech