摘要三自由度直升机实验平台在直升机的有效模拟上有很好的作用。它作为自动控制中 较为典型实验设备，在制导与控制理论教学与研究中是较为经典的物理模型。通过研究 三自由度直升机系统，不仅能解决控制中的理论问题，还能将控制理论中的基础学科力 学、数学和电学有机结合起来。从理论方法中得到经验，可以对真实的直升机系统亦或 是其他工程系统设计者提供帮助。

本文着重研究了三度自由直升机实验控制平台上控制器的设计及稳定控制问题，在 三通道数学模型建立的前提下，俯仰角、滚动角采用 LQR 线性二次型控制方法，偏航角 采用 PID 控制实现直升机飞行姿态的稳定控制，以状态反馈法进行极点配置和参数调试 并且以跟踪信号分析对比其控制稳定性，从而实现整个控制平台的有效姿态运行。77747

毕业论文关键词 三度自由直升机 PID 控制器 LQR 调节器 姿态控制

毕 业 设 计 说 明 书 外 文 摘 要

Title   The control of three dof helicopter test platform

Abstract Three dof helicopter platform on the effective simulation of the helicopter has a good effect。As the typical experimental equipment automatic control, it's in the guidance and control theory in the teaching and research is also being bullish on classical physical model。By studying the three dof helicopter system, not only can solve the problem of control in the theory, also can be basic subjects in the control theory of mechanics, mathematics and electrical organic combine, in the three dof helicopter system in practical application。In a variety of control theory and the method of theory practice, especially in engineering, also there is a feasibility test questions, get experience from the theory and method, can the real helicopter system or other engineering designers to offer help。

This article focuses on the three degrees of freedom helicopter control platform controller design and stability control problem, on the premise of three-channel mathematical model is established, the pitch Angle and roll Angle LQR theory is adopted linear quadratic control method, the yaw Angle of the stability of the helicopter flight control is realized by using PID control, by the method of state feedback pole assignment and tuning parameters and to track the signal analysis comparing the control stability, so as to realize the effective posture of the entire control platform to run。

Keywords Three degrees of freedom helicopter PID controller LQR controller Attitude control

本科毕业设计说明书 第 I 页

目 次

1。引言（或绪论） 1

1。1 选题背景与研究意义 1

1。2 研究综述与问题 1

1。3 本文研究主要内容与工作安排 2

2。三度自由直升机试验系统与工作原理 3

2。1 直升机硬件机械系统 3

2。2 直升机电动系统 3

2。3 直升机软件控制平台系统及工作原理 4

2。4 本章小结 4

3。三度自由直升机机理法建立数学模型 5

3。1 三度自由直升机动力学数学模型 5

3。1。1 俯仰轴建模