工学硕士学位论文绿茶解药吗
倾转旋翼机垂直起降滚动通道
控制问题研究
RESEARCH ON TILT ROTOR VERTICAL TAKE-OFF AND LANDING ROLL CHANNEL CONTROL PROBLEM
林浩
哈尔滨工业大学
2007年7月
国内图书分类号：TP273
国际图书分类号：681.5
工学硕士学位论文
倾转旋翼机垂直起降滚动通道
控制问题研究
恐怖悬疑电影硕士研究生：林浩
导师：陈平副教授
申请学位级别：工学硕士
学科、专业：控制科学与工程
所在单位：电气工程系
答辩日期：2007年7月
授予学位单位：哈尔滨工业大学
Classified Index：TP273
U.D.C: 681.5
空气炸锅怎么做薯条Disrtation for the Master Degree in Engineering RESEARCH ON TILT ROTOR VERTICAL TAKE-OFF AND LANDING ROLL CHANNEL CONTROL
PROBLEM
Candidate：Lin Hao
Supervisor：Associate Prof. Chen Ping Academic Degree Applied for：Master of Engineering Specialty：Control Science and Engineering Affiliation：
Dep. of Electrical Engineering Date of Oral Examination： July，2007
Degree-Conferring-Institution：Harbin Institute of Technlogy
摘 要
倾转旋翼机是一种新型的飞行器，这种飞行器可以垂直起降、在空中具有极强的机动能力，因此是航空界研究的热点。为了在实验室条件下研究这种飞行器的飞行控制问题，本文建立了双螺旋桨垂直起降机模拟装置，采用自适应双重控制研究倾转旋翼机的滚动通道控制问题，以解决这种飞行器在飞行过程中的非线性控制问题。
本文分析了倾转旋翼机的操作原理，主要研究了主飞行控制系统，包括滚转控制，俯仰控制，偏航控制和推力控制。建立了倾转旋翼机的螺旋桨动力学模型，分析研究了倾转旋翼机滚动通道模型。为在
实验室条件下研究倾转旋翼机的滚动通道控制问题，建立了倾转旋翼机的模拟装置——双螺旋桨垂直起降机装置。
研究了自适应控制及其发展。传统的自适应控制器一般是基于确定性等价原则，也就是不考虑参数估计的不确定性。谨慎控制器考虑了参数估计的精度，但是谨慎控制器通常会存在“关断”现象，而且自适应较慢，进而提出自适应双重控制。给出了自适应控制算法用到的参数估计算法，并推导了基于确定性等价原则的标准自适应极点配置控制器和直接自适应双重极点配置控制器。针对一个非最小相位系统，进行了仿真实验，两种控制器的仿真结果说明双重控制器具有改进的控制性能。
拼音口诀为对控制对象进行实时实验，设计了硬件电路，主要包括：功率放大电路、滤波电路、硬件接口电路和信号处理电路。进行标定试验，分别标定控制对象模型的未知参数，包括电机常数、转动惯量J 以及整个系统的增益K 。最终确定了整个系统的传递函数，为下一步对控制对象进行仿真实验奠定了基础。
m T 针对控制对象的数学模型，设计自适应双重控制器，并根据控制对象期望的闭环性能配置闭环系统的零极点，给出控制器参数的初始值，在Matlab 环境下进行了仿真，给出仿真结果。
关键词 自适应控制；倾转旋翼机；数学建模；Matlab 仿真
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Abstract
Tilt rotor is a new type flight vehicle, it combines the vertical take-off and landing, the hover performance of a helicopter with the crui speed and efficiency of a turbopropairplane. So it is the hotspot of aviation field. In order to rearch the flight control problem of this aircraft in the condition of laboratory, a twin-screw vertical take-off and landing plant was established. In order to resolve the nonlinear control problem in the flight process of the aircraft, Adaptive dual control was ud to rearch the roll channel control problem of the tilt rotor.
This paper analyd tilt rotor operating system principle, rearched the main flight control system, including rolling control, pitching control, yawing control, thrust control. Established the aerodynamic model of the airscrew, studied the rolling channel control model of the tilt rotor. In order to rearch the rolling channel control problem in laboratory, a plant simulating tilt rotor was established.
表现性目标
Adaptive control and its development process was studied. traditional adaptive controller is bad on Certainty Equivalence principle, that is parameters estimation uncertainty isn’t not taken into account. Cautious controller considers the accuracy of estimated parameters, but it may cau “turn off” phenomena, moreover its adaptation is slow, as a result, adaptive dual control is brought forward.爬藤植物有哪些
Prented Parameters estimation arithmetic, derived standard adaptive pole-placement controller bad on certainty equivalence principle and direct adaptive dual pole-placement controller. Took an unstable nonminimum pha plant as an example, did simulation experiment, simulation results showed that dual controller has improved performance.
In order to real-time control the object, designed hardware circuits, including power amplifier circuit, filter circuit, hardware interface circuit and signal process circuit. Did experimentation to measure unknown parameters of the control object, including motor constant , moment of inertia J and the whole system gain K . At last, the transfer function of the whole system was determined, it was the foundation for the next experiment.
m T Designed the adaptive dual controller according to the math model of the control object, lected the zeros and poles of clod loop system according to the desired clod loop performance, prented the initial value of controller parameters, did simulation experiment using Matlab, at last, prented the simulation result.
Keywords adaptive control, tilt rotor, math modeling, matlab simulation
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