Research Of 3-dof Helicopter Based On Quantum Immune Algorithm

This thesis selects the 3-Dof dual rotors helicopter(GHP2004) as the research object to design the controller with quick response performance and obtain well control effect by combining the quantum immune algorithm(QIA). The 3-Dof helicopter(GHP2004) with characteristics of typical high order, nonlinear and multi input multi output(MIMO) has been used as a research tool of intelligent algorithm popularly in universities. While QIA heightens its intelligence by introducing the clone selection and the memory-based learning mechanism with hi-gh parallelity and global optimization.The main work includes the following aspects:1. This thesis has introduced the structure composition and the working principle of the system, and established the mathematical model according to the motion characteristics of each freedom degree and the Newtonian Mechanics. The model has been simplified and the state equation has been founded to design the simple and useful controller, which meets the property of rapidness, steady, accuracy and so on. The system controller was designed from the Linear Quadratic Regulator based on the optimal theory and normalized fuzzy neural network controller rooting in intelligent control filed.2. This thesis has introduced the basic knowledge of quantum computation and QIA, then applied QIA to the parameters selection of the LQR controller and NNFN controller to get the optimal and reasonable parameters by the antibody with high affinity selection of the evaluation function with performance analysis. The simulate results have shown the specialty of parameter optimization of QIA, verified its feasibility and fully reflected its global optimization advantage.3. The 3-Dof helicopter is controlled in real time, using the QIA to optimize the parameters of the LQR controller. The existing computers cannot compute rapidly for the parallelism of the quantum computation, which leads to the poor real-time performance. So we choose the parameters of the controller piecewisely to found the Simulink simulation model. The simulation results have proved that the method is feasible and the control effect is good.