智慧型控制器應用於飛行系統之研究

Research on Intelligent Controller for Flight Control Systems

吳秉洲(Ping-Chou Wu)

指導教授 ： 黃英哲

元智大學/電機通訊學院/電機工程學系/博士(2012年)

摘要

本論文提出智慧型控制器應用於飛行控制系統，包含垂直起飛降落的直升機及雙旋轉翼多輸入多輸出飛行系統。基於比例微分控制器的強健小腦模型控制器被開發用於直升機的速度控制。小腦模型控制的即時學習及回想程序與比例微分控制器結合的優點包含能夠符合追蹤性能並能抵抗飛行參數的變化和外在強風的干擾。模擬結果驗證此智慧型控制器在直升機的速度控制之有效性。
再者探討雙旋轉翼多輸入多輸出飛行系統的控制器應用於位置控制。一為傳統之比例積分微分控制器，二為比例積分微分控制器結合模糊滑動控制器，三為比例微分小腦模型強健控制器。先設計傳統之比例積分微分控制器達到基本的位置控制目標。接著設計比例積分微分控制器結合模糊滑動控制器以減少穩態誤差。最後比例微分小腦模型強健控制器不僅能改善穩態誤差又擁有良好暫態響應且能在外在干擾時穩定整個系統。模擬結果和實作皆指出比例微分小腦模型控制器的對於雙旋轉翼多輸入多輸出飛行系統的位置控制之有效性。

關鍵字

垂直起降直升機 ； 雙旋轉翼多輸入多輸出飛行系統 ； 小腦模型控制器 ； 比例積分微分控制器 ； 模糊控制

並列摘要

This dissertation presents intelligent controllers for two flight control systems. One is a vertical take-off and landing flight aircraft system, the other is a twin rotor multi-input multi-output aircraft system (TRMS). A robust proportional-derivative (PD) based cerebellar model articulation controller (CMAC) is developed for speed control of a vertical take-off and landing flight control system. Successful on-line training and recalling process of CMAC accompanying the PD controller is developed. The advantage of the proposed method is mainly the robust tracking performance against aerodynamic parametric variation and external wind gust. The effectiveness of the proposed algorithm is validated through the application of a vertical takeoff and landing aircraft control system.
For the twin rotor multi-input multi-output system, three kinds of controllers are investigated. One is the traditional PID controller, another is a PID fuzzy controller, and the other is a robust PD CMAC. The traditional PID controller can achieve basic position control objectives. The PID fuzzy controller, with the advantages of fuzzy control, can reduce the steady state error. The robust PD CMAC not only reduces the steady state error, retains the good transient response but also guarantees the stability of the whole TRMS with external disturbances. Simulation results and experimental results demonstrate the effectiveness of the proposed robust PD CMAC for position control of the TRMS.

並列關鍵字

fuzzy control ； vertical takeoff and landing aircraft ； twin rotor multi-input multi-output system ； cerebellar model articulation controller ； proportional-derivative control

參考文獻

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