http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
Nonlinear Dynamic Modeling and Control of a Small-Scale Helicopter
Baoquan Song,James K. Mills,Yunhui Liu,Caizhi Fan 제어·로봇·시스템학회 2010 International Journal of Control, Automation, and Vol.8 No.3
A test bench for experimental testing of the attitude control of a small-scale helicopter is constructed. A nonlinear model with 10 states is developed for this experimental setup. The unknown model parame-ters are estimated using the extended Kalman filter with flight test data of the helicopter operating on the test bench. In this work, it is proved that the nonlinear helicopter dynamic model may be globally feedback linearized using the dynamic feedback linearization technique. In order to satisfy multiple closed-loop performance specifications simultaneously, a controller is proposed by applying the Convex Integrated Design (CID) method to the feedback linearized model. Finally, the controller is tested in simulation demonstrating the closed-loop performance of the proposed controller.