Research Of The Three Degree-of-freedom Platform Based On Dynamic Matrix Control

As a control system that can simulate helicopters in some characteristics,the three-degree-of-freedom helicopter simulation flight attitude system is concerned and studied by many control technology scholars.Its own multi-input and multi-output characteristics,strong coupling characteristics and strong nonlinear characteristics determine that it is a difficult control object in control engineering.This thesis studies the physical development of the three-degree-of-freedom simulated flight attitude system and the application of predictive control in the physical system,that is,solves the practical development problem of the three-degree-of-freedom simulation control system and its control performance problem,and can apply the predictive control to the real system.The main content is divided into the following three parts:1.The dynamic analysis of the three-degree-of-freedom helicopter flight attitude system is carried out by selecting the appropriate body coordinate system.According to the characteristics of the double rigid body combined motion,the nonlinear dynamic model of the system is established.And based on the equilibrium state of the model,it is subjected to small perturbation linearization.This transformed the strongly coupled,strongly nonlinear model into a weakly coupled,weakly nonlinear model.2.In the case of physical control,the controlled system is a continuous system,but the control system is a digital controller.In this paper,the digital PID controller is researched with the digital-analog hybrid simulation method combined by SIMULINK and M function.Based on the digital PID controller,the dynamic matrix controller is designed for the pitch axis and the yaw axis.By changing the different control parameters of the dynamic matrix control,the response trend of the system to different values of the same parameter is compared.The response trend of the biaxial response curve with parameters is summarized.3.Based on the preliminary analysis of the three-degree-of-freedom simulation flight attitude system,the physical system development was carried out.The technical scheme of the whole system is designed,including mechanical structure selection and electronic control system selection and debugging.Based on the built physical system,the corresponding upper computer debugging system is designed.The upper computer is used to debug the PID parameters of the lower computer and display the three-axis attitude of the lower computer in real time.On this basis,a dynamic matrix controller is added to the pitch axis to optimize the control effect.