| Helicopter has very complicated dynamics characteristics, it has changeful flying state. Its dynamics characteristics change depends on the flying high and the flying state. It has non-linear and multi-variable coupling characteristics and so on. Usually it is very difficult to be described by exact math model. Through the research of modeling, designing, simulating, it can improve the application of control theory and technology which working on the complicated system. So the research on the theory and the designing of helicopter has very important practical meaning.The3-DOF helicopter model system, provided by the googoltech Company, is simple and intuitionistic as a laboratory setup but it complieated as a controlled unit. It is a complex system, which can be stable by adopting effective control method. so, in the paper, the control method was studied in detail.The work is listed as follows:(1) Models are developed in this thesis. Multi-Input and Multi-System Models of the Helieopter are developed in Matlab, including model of the Elevation part of system, model of the travle part of system, model of the pitch part of system and3-DOF model of system.(2) A kinds of usual state space design methods of traditional control theory are introduced, focusing on PID control and optimization control system with LQR(linear quadratic regulator) controller.The methods are simulated in Matlab.(3) A Fuzzy-Controller is designed for the Helieopter. And the method is simulated in Matlab.(4) A PIDNN Controller is designed for3-DOF helicopter model. The simulation result indicates that the system, compared to the LQR control method, Possesses the advantages of high precision, quiek response speed and is of great adapt ability and robustness.Finally, the research results of the full paper are summarized and the questions that this subject needed further investigating are analysed. |
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