论文信息 - Dynamic modelling and linear quadratic Gaussian control of a twin-rotor multi-input multi-output system

Dynamic modelling and linear quadratic Gaussian control of a twin-rotor multi-input multi-output system

Abstract This paper presents an investigation into the modelling and control of a one-degree-of-freedom (1 DOF) twin-rotor multi-input multi-output (MIMO) system (TRMS). The behaviour of the TRMS in certain aspects resembles that of a helicopter. Hence, it is an interesting identification and control problem. A dynamic model characterizing the TRMS in hover is extracted using a black-box system identification technique. The extracted model is employed in the design of a feedback linear quadratic Gaussian compensator, namely the stability augmentation system (SAS). 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, resulting in the command and stability augmentation system (CSAS). The combined feedforward and feedback compensator satisfies the performance objectives and obeys the actuator constraint. The control law is implemented in realtime on the TRMS platform.

M. O. Tokhi | Andrew J. Chipperfield | S M Ahmad

[1] K. J. Burnham,et al. 4-dimensional control of a remotely piloted vehicle , 1996 .

[2] I. Kaminer,et al. Design, analysis and hardware-in-the-loop simulation of a MIMO controller for a VTOL unmanned aerial vehicle using H/sub /spl infin// synthesis , 1994, Proceedings of 1994 American Control Conference - ACC '94.

[3] R. Lane Dailey,et al. Practical control law design for aircraft using multivariable techniques , 1994 .

[4] Lena Valavani,et al. Autopilot Design for Bank-to-Turn Missiles using LQG/LTR Methodology , 1988, 1988 American Control Conference.

[5] HoverJohn C. MorrisElectrical. Identi cation and Controlof a Model Helicopter in , 1994 .

[6] Isaac Kaminer,et al. Development of a flight test system for unmanned air vehicles , 1999 .

[7] Richard M. Murray,et al. Rapid Hover-to-Forward-Flight Transitions for a Thrust-Vectored Aircraft , 1998 .

[8] Herbert Werner,et al. Robust control of a laboratory aircraft model via fast output sampling , 1999 .

[9] M. O. Tokhi,et al. Parametric modelling and dynamic characterization of a two-degree-of-freedom twin-rotor multi-input multi-output system , 2001 .

[10] Carlos Silvestre,et al. Trajectory Tracking for Autonomous Vehicles: An Integrated Approach to Guidance and Control , 1998 .