Robust H_∞ Controller Design Of Helicopter Based On Improved Particle Swarm Optimization Algorithm

The research of helicopters is popular issues, in order to ensure the flight safety, improve flight quality and operational effectiveness, which must take effective control method. Considering the helicopter is a complex dynamic system, and must meet strict quality guidelines ADS-33 performance requirements in many aspects of time and frequency domain, this paper uses the robust control theory combined with particle swarm optimization algorithm to carry out the design of helicopter flight control method. In view of particle swarm optimization algorithm easily going into the local minimum value, etc, put forward an adaptive optimization learning factor improvement measures, the specific research contents are as follows:1. The establishment of helicopter linearized model.Through the structure of the helicopter, analyzing the coordinate system and the role of the helicopter force and moment, Newton’s law applied to build a helicopter nonlinear motion equations, and then using the small disturbance method linearization of the nonlinear equations of motion, six degrees of freedom for helicopter airframe linearized mathematical model of the foundation for the design of robust h-infinity controller.2. Proposing improved particle swarm optimization algorithm.Considering the basic particle swarm optimization algorithm is easily fall into local minimum values and has poor convergence performance,research on particle swarm optimization algorithm selection method of the parameters,introducing the idea of linear decreasing function, this paper puts forward an adaptive adjustment of learning factor improved particle swarm optimization algorithm.Through six kinds of classic benchmark test functions for its verification, the results show that the method has good convergence speed and search precision, and applies the improved particle swarm optimization algorithm in PID controller design of an unstable system, achieve good control effect.3. With the improved particle swarm optimization algorithm to carry out the helicopter robust h-infinity controller design.Based on LMI robust h-infinity controller design of the key problems as the weighting function matrix selection, in order to improve the efficiency of selection of weighted function matrix, an improved particle swarm optimization algorithm for the optimization, and designed to meet the performance requirements of robust h-infinity controller,at the same time, according to the helicopter 8 order linear mathematical model using the improved particle swarm algorithm designed 16 robust h-infinity controller, simulation results show that the helicopter robust h-infinity controller has good dynamic characteristics and decoupling.4. With the improved particle swarm optimization algorithm to carry out the helicopter robust h-infinity reduced order controller design.Based on LMI robust h-infinity calculating controller design is the key problem to rank constraints the convex optimization problem, the study of this kind of non convex optimization problem, an improved particle swarm optimization algorithm optimization, design 12 order that meet the conditions of robust h-infinity reduced order controllers.The simulation results compared with the order of 16 robust h-infinity controller, it is concluded that the reduced order controller 12 order have the same control effect.