基于鲁棒控制的三自由度直升机半实物仿真实验

针对三自由度直升机系统实验过程中受到外界干扰具有不确定性的问题，设计一种基于鲁棒控制的三自由度直升机半实物仿真实验方法。通过建立三通道姿态运动的动力学模型，利用鲁棒控制方法设计控制律，进行仿真实验，并将鲁棒控制程序用于直升机系统实物，利用H∞控制理论设计鲁棒控制算法进行半实物仿真实验。实验结果表明：仿真实验和半实物仿真实验均能较好地控制直升机姿态，系统模型存在不确定性或外界干扰不明确时，鲁棒控制算法仍能使姿态控制系统稳定并满足预期要求。

Semi Physical Simulation Experiment of Three DOF Helicopter Based on Robust Control

For the uncertainty of the external disturbance in the experiment of three degrees of freedom (DOF) helicopter, a semi physical simulation experiment of three DOF based on the robust control method is designed. The control law is designed by using the robust control method according to the establishment of the dynamic model of the three-axis attitude motion and used for simulation experiment. The robust control program is applied in the helicopter, andH∞ control theory is used to design the robust control algorithm in the semi physical simulation experiment. The experimental results show that the stability control of the helicopter attitude is achieved in both simulation experiment and hardware-in-the-loop simulation experiment, and the robust control algorithm can make the attitude control system be stable and meet the expected requirement even when the uncertainty of the system model is exist and the external disturbance is not clear.