Multirate control for a twin-rotor type model helicopter

被引：0

作者：

Nakamura, Toshifumi ^{[1
]}

Kimura, Shuhei ^{[1
]}

Sato, Takao ^{[1
]}

Araki, Nozomu ^{[1
]}

Konishi, Yasuo ^{[1
]}

机构：

[1] Graduate School of Engineering University of Hyogo, 2167 Shosha Himeji, Hyogo 671-2280, Japan

来源：

ICIC Express Letters | 2014年 / 8卷 / 02期

关键词：

Error compensation - Linear control systems - Computation theory - Aircraft control - Helicopter rotors - Degrees of freedom (mechanics);

D O I：

暂无

中图分类号：

学科分类号：

摘要：

In recent years, multirate control has been evaluated for various nonlinear models. This paper presents a multirate control method for a twin-rotor type model helicopter. It is known that a twin-rotor type model helicopter is not easily controlled because of its strong nonlinearity. Although a multirate control method for nonlinear models has already been proposed, a significant number of calculations are required. Thus, nonlinear theory is not practical for built-in computers with low computing power. Therefore, this paper proposes a new control method for a nonlinear plant. In the proposed method, a linear control law is designed based on a linearized nonlinear plant model. The experimental results show that the control objective can be achieved by 2DOF (degree-of-freedom) integral compensation, even if there is a modeling error, and the effectiveness of the proposed method is verified. © 2014 ISSN 1881-803X.

引用

页码：583 / 589