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针对发生复杂故障情况下的直升机采用量子控制理论与自适应补偿器技术进行直接自修复控制方法研究。首先对线性参数时变直升机控制系统进行模型参考自适应控制器设计;其次在外环增加自适应补偿器提高直升机控制系统的自修复控制能力,并利用李雅普诺夫稳定性理论证明了该系统的稳定性。最后为提高自修复控制律的抗干扰能力,在不影响系统稳定性的前提下,在故障信号与干扰信号之间增加量子前馈控制模块。仿真结果表明了该控制方法的有效性。
Aiming at the direct self-repair control method of helicopters in the case of complex faults using quantum control theory and adaptive compensator technology. Firstly, the model reference adaptive controller is designed for the time-varying helicopter control system with linear parameters. Secondly, an adaptive compensator is added to the outer ring to improve the self-healing control ability of the helicopter control system. The Lyapunov stability theory is used to prove that the system stability. Finally, in order to improve the anti-jamming ability of the self-healing control law, a quantum feedforward control module is added between the fault signal and the interference signal without affecting the system stability. Simulation results show the effectiveness of the control method.