基于ARX模型四旋翼飞行器的LQR控制方法

LQR Control for a Quad-Rotor Helicopter Based on ARX mode

摘要:

四旋翼飞行器飞行过程中具有非线性和强耦合性,导致难以建立精确的物理力学模型,针对这个难题,提出了基于多个ARX模型四旋翼飞行器的LQR控制器设计方法;ARX模型全称是带外生变量的自回归模型,LQR控制器一种基于局部线性化模型的无限时域预测控制器;该法首先基于四旋翼飞行器的动力学特性构建四旋翼飞行器多个ARX的模型结构,并利用结构化非线性参数优化方法辨识模型参数,获取满足工程精度需求的四旋翼非线性动态模型;然后,基于该模型给出了具有状态反馈的LQR控制器设计方法,并通过求解工作点的Riccati方程,获得状态反馈矩阵,最后通过仿真和实时控制结果验证了所提方法的有效性和可靠性。

Abstract:

The Quad-Rotor Helicopter which is nonlinear and coupled with each other makes it difficult to establish accurate physical mechanics model,for the problem,the design of LQR controller on Quad-Rotor Helicopter based on identified ARX mode were discussed.Using state-dependent AutoRegressive model with exogenous variable yields the ARX model, LQR controller is a predictive controller of infinite time domain based on local linear model.The structure of the Quad-Rotor Helicopter’identified ARX model based on dynamic properties was built firstly,and identify the model parameters using the structured nonlinear parameter optimization methods, obtain the Quad-Rotor Helicopter’s nonlinear dynamic model to meet the demand of engineering precision.then,the state feedback’s LQR controller based on the model was given, and by solving the Riccati equation of working point, the state feedback matrix was accessed. Finally, the simulation results and real time control verify the validity and reliability of the proposed method.