直升機(jī)飛行控制實(shí)驗(yàn)

1、直升機(jī)飛行控制實(shí)驗(yàn)2030910304程嬌嬌030910301劉瀟雅030910305 欒 婷 030910307 沈星星030910310李曉曉1.在simulink中實(shí)現(xiàn)狀態(tài)空間模型o workspace2.開環(huán)仿真(1) 通道1-40-60-8010°012345678910(2)通道2(3)通道380604020-20012345678910(4)通道42.分成四個通道，分別求傳遞函數(shù)(1)通道1al=-o. 9757 0;1 0bl二-5. 5627;0cl=eye(2);dl=zcros(2, 1) sys=ss(al,bl,cl,dl) tf(sys) 傳遞函數(shù)：tra

2、nsfer function from input to output.-5. 563#1:s + 0. 9757-5. 563#2:s 2 + 0. 9757 s(2) 通道2a2=2. 9709 0. 0002; 1 0b2=18. 402;0c2=eye(2);d2 二 zeros (2, 1)sys二ss(a2, b2, c2,d2) tf (sys)傳遞函數(shù)：transfer function from input to output.1&4 s#1：sj - 2.971 s - 0. 000218.4#2:sj - 2.971 s - 0. 0002(3) 通道3a3=-0

3、. 5581b3=-0.06181c3=eye(l);d3=zcros (1, 1) sys=ss (a3, b3, c3, d3) tf(sys)傳遞函數(shù)：transfer function:-0.06181 s + 0. 5581(4) 通道4a4=0. 0918 0;1 0b4=8. 4545 ;0c4=eye(2);d4=zcros (2,1) sys=ss (a4, b4, c4, d4) tf(sys)傳遞函數(shù)output.transfcr function from input8. 454#1：s - 0. 0918& 454#2:s 2 - 0. 0918 s3用lt

4、i工具箱設(shè)計參數(shù)(1)通道1：原階躍響應(yīng):-2-4 pn-=dlu<-12-14-16-180.20.30.40.50.6time (sec)校止后根軌跡:s_xv 6elu_-8-12-®<-2-46-10 -8-6-4-2real axis024root locus editor (c)6421.4system: closed loop: r to y i/o: r to ypeak amplitude: 1.21overshoot (%): 19.3at time (sec): 4.590.40.201015time (sec)system: qosed loop:

5、 r to y ko: r to y settling time (sec): 10.5< 0.6system: closed loop: r to y lzo: r to y anal value: 1.02system: qosed loop: r to y lzo: r to y rise time (sec): 1.98校止后閉環(huán)波特圖:50system: oosed loop: r to y jode diagramvo: r to ypeakgain (db): 1.82at frequency (rad/sec): 0.618i-50i iiiii-| j . -_亠i i

6、 (ifsystem: closed loop: r to ygain margin (db): 14.9at frequency (rad/sec): 1.92closed loop stable? yesi i i i i i i iiiii ii i i.-l - l -i-i i i illi-1500(6p)send-27010 21010°frequency (rad/sec)1019084102 pn-=dlu<-5-1000.20.4校正后根軌跡：0.6 0.8 1time (sec)root locus editor (c)1.21.41.6s_xv 6ee_

7、05-x05o2-20-10-5real axissystem: oosed loop: r to ystep response1 4 i/o： r to y>11peak amplitude: 1.15overshoot (%): 14.71 -2 at time (sec)：0 933system: qosed loop: r to ylzo: r to yfinal value: 10.8 pn=_duj<0.6system: closed loop: r to yi/o: r to yrise time (sec): 0.651system: closed loop: r

8、to yi/o: r to ysettling time (sec): 3410.40.2qiiiiiiiiii050100150200250300350400450500time (sec)校正后閉環(huán)波特圖：10.丄 l 1s1 lubode dagrammp) pn=u6b 乏i 11 11 11 1(rul 11 11 11 11 11 isystem: closed loop: r to yi/o: r to ypeak gain (db): 1.21at frequency (rad/sec): 0.185"j*4045tttt(6 p)專jzd45-90103system

9、: closed loop: r to y phase margin (deg): 150 delay margin (sec): 0.233at frequency (rad/sec): 11.3 closed loop stable? yes . 10.v.0.0102103frequency (rad/sec)-0.1-0.12-0.140210468time (sec)020608oa)pnu-dlu<12校正后根軌跡:-100root locus editor (c)-86-4-2real axis646422sxv 6eiu-48-1vo: r to ystep f peak

10、 amplitude: 10.8121iiovershoot (%): 4.93at time (sec): 28.4system: closed loop: r to yi/o: r to yrise time (sec): 13.9system: closed loop: r to yuo: r to ysettling time (sec): 39.3system: closed loop: r to yi/o: r to yfinal value: 10.3校正后閉環(huán)波特圖:bode diagram00o459053w3102io1101102103frequency (rad/sec

11、)1.4 pn=_duj<0.40.2°o0.20.30.4time (sec)0.50.60.7校正后根軌跡:sxv 6piu-10 20root locus editor (c)604020-20-40-6080-70-60-50-40-30-20-100real axis1.41.2system: qosed loop: r to y mo: r to ypeak amplitude: 1.12overshoot (%): 10.8at time (sec): 0.34system: closed loop: r to y lzo: r to y final value:

12、 1.01system: closed loop: r to yi/o: r to ysettling time (sec): 0.504system: closed loop: r to y ko: rtoy - rise time (sec): 0.154i“0.8 pn=_duj<0.60.40.20 -00.10.20.30.40.50.60.70.8time (sec)50bode diagram校正后閉環(huán)波特圖：system: closed loop: r to y gain margin (db): 13.8at frequency (rad/sec): 25.7close

13、d loop stable? yes卜5000500system: closed loop: r to yi/o: r to ypeak gain (db): 0.531at frequency (rad/sec): 7.35i i iii i i i.li. i. i- system: qosed loop: r to y phase margin (deg): 95.8 delay margin (sec): 0.168 at frequency (rad/sec): 9.97 oosed loop stable? yes(6p) seijd90804'、ii i i i i ii

14、ii i i i i iiii i i i i i ii_，_ i i 一y/u101 10° 101 102 103frequency (rad/sec)4.用優(yōu)化方法調(diào)參simul ink仿真結(jié)構(gòu)圖：maxdirectionalfirst-ordertter fcountf(x)constraintstep-sizederivetiveoptimality procedure0 1024. 5813021.220. 061201 infeasible25011.360. 26101 infeasible3709. 054101 hessian modified;infeasibl

15、e4900. 9583101 hessian modified;infeasible51100. 05314100.0145 hessian modified613 -2. 36208e-0210. 037141-2.36e-0210. 128hessiani modified7153.82895e-0160.00173513.83e-0163.5181701.387e-0171-3.83e-0160. 0218successful termination.found a feasible or optimal solution within the specified tolerances.

16、31.4255kph 二0. 8064kps 二31.4257kq 二16. 5874kr =-1.3875e-017kth =49. 6978kw =4. 3469e-017m block parameters: signal constraintfile edit plots goals optimization helpinput to heliz/signal constraint01234567time (sec)89103只僅題®退 lb1.59pnp-dw10.50-0.5j7 enfo rce sig nalbo unds track ref ere nee sign

17、al經(jīng)過一次尋優(yōu)后，第一二通道參數(shù)滿足要求，因此，固定一二通道參數(shù)，對第三通道進(jìn)行再次尋優(yōu)如下:maxdirectionalfirst-orderiter f-countoptimality proceduref(x)constraintstep-sizederivative0 103.9641303. 6980. 061201 infeasible2502. 8560. 26101 hessian modified twice;infeasible3701.319100.547 hessian modified4900. 5215100. 0090251100. 09111100. 2761

18、300. 006808100. 19871500.0009177100. 0429successful termination.found a feasible or optimal solution within the specified tolerances.kph 二3. 7749kr 二1. 3985kw 二37. 8876h block parameters: signal constraint回inxfile edit plots goals optimization helpq s 題 q渥 s<dprnj dllv1.510.50-0.5input to neliz/s

19、ignal constraint01234567time (sec)8910|7 enforce signal bounds 廠 track reference signal經(jīng)過二次尋優(yōu)后，第一二三通道參數(shù)滿足要求，因此，固定一二三通道參數(shù)，對 第四通道進(jìn)行再次尋優(yōu)如下：maxdirectional f i rst-order010239.9130180. 31infeasible25065. 641hessianmodifiedtwice;infeasible37019. 241hessianmodifiedtwice;infeasible4909.9181hessianmodifiedtw

20、ice;infeasible51108 6841infeasible6130& 5931infeasible71508. 5821infeasible8170& 5811hessianmodified;infeasible9190& 5811hessian modified;infeasibleiter f-countf (x)constraintoptimality procedurecould not find a solution that satisfies allstep-sizc0. 2910. 9091111111dcrivativc000000000co

21、nstraints.relax the constraints or increase the constraint tolerance to find a feasible solution.kw 二58. 5807m block parameters: signal constraintfile edit plots goals optimization helpqih尋題®退 l81.5input to nehz/signal constraint10.50-0.501234567time (sec)7 enforce signal bounds i track reference signal8910最終七個參數(shù)值為:kp 二 31.4255kps = 31.4257kq = 16.5874kth = 49. 6978kph 二 3.7749kr 二 1.3985kw = 58.5807四個通道示波器顯示如下:邊 scopel回10.80.60.40.20j j 1 fi j 1r«1i1i1ifl1«-«-«-