哈工大4系飞行器控制实验指导书Word文档下载推荐.docx
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5.求特征值和特征向量:
[V,eva]=eig(A'
)V为AT的广义模态矩阵,eva=diag(1,…,n)
6.矩阵的转置:
A因为是实数阵所以转置可以用A’,A’是A的共扼转置
而U,V等复数阵的转置要用conj(V’);
7.子阵的抽取:
A(i:
j,m:
n);
A(:
1);
A(i,j)
8.矩阵四则运算:
(维数要一致)表达式与标量数值运算同
9.循环语句:
fori=1:
1:
n+1
程序行
end
10.条件判断:
if(a~=b)
end
11.结果显示控制:
语句后面加“;
”则不显示结果。
12.将某个变量从工作区中清除
clearParaEva;
13.m函数:
function[AC,KVT]=SImodectrl(A,B,eva0,eva1)
函数体
endfunction
要求m文件的文件名与函数名一致。
14.绘制某个量的关于时间的曲线:
plot(t,x(1,:
))逗号分割两个向量(行或列均可),左边为横坐标,右边为纵坐标
grid加栅格
axis([x0x1y0y1])确定坐标系大小
figure(i)定义新图,设定当前图
以上语句及其它感兴趣的函数、语法的详细使用说明可以参阅MATLAB的帮助。
四、实验报告
飞行器控制实验报告
(实验报告模版在ftp:
//219.217.250.117/incoming中下载)
班级:
学号:
姓名:
时间:
2011年12月12日
2006年12月
1.实验要求:
(1)掌握单输入多模态控制的设计步骤,及各参数的确定;
(2)会用单输入多模态控制方法设计飞行器的稳态控制器;
(3)会用Matlab工具
2.实验过程:
(从Matlab的工作区中将输入和计算过程复制粘贴过来,可以改变一下字体大小和格式)
●表2-1纵向短周期模态的模态控制
(1)飞机原始数学模型
状态变量:
输入变量:
A:
>
A=[-0.602,1;
-15.988,-0.5]
A=
-0.60201.0000
-15.9880-0.5000
B:
B=[-0.0848;
-9.439]
B=
-0.0848
-9.4390
(2)A的特征值和特征向量特征向量矩阵(在Matlab直接计算出来的U的结果上乘以自己的学号(两位))
L:
U:
V:
[U,L]=eig(A)
U=
0.0031-0.2426i0.0031+0.2426i
0.97010.9701
L=
-0.5510+3.9982i0
0-0.5510-3.9982i
U=U*28
0.0866-6.7928i0.0866+6.7928i
27.163427.1634
V=conj(inv(U))'
V=
0+0.0736i0-0.0736i
0.0184-0.0002i0.0184+0.0002i
(3)配置要求(AC的特征值)
LC:
LC=[-2.1+2.142i;
-2.1-2.142i]
LC=
-2.1000+2.1420i
-2.1000-2.1420i
(4)模态可控阵
P:
P=inv(U)*B
P=
-0.1737-0.0040i
-0.1737+0.0040i
(5)比例控制器增益
K:
K1=(LC
(1)-L(1,1))*(LC
(2)-L(1,1))/P
(1)/(L(2,2)-L(1,1))
K1=
9.0606+6.2665i
K2=(LC
(1)-L(2,2))*(LC
(2)-L(2,2))/P
(2)/(L(1,1)-L(2,2))
K2=
9.0606-6.2665i
K=[K1K2]
K=
9.0606+6.2665i9.0606-6.2665i
(6)状态反馈增益阵
G:
G=K1*conj(V(:
1)'
)+K2*conj(V(:
2)'
)
G=
-0.92250.3365
(7)闭环系统矩阵及其特征值
AC:
AC=A+B*G
AC=
-0.52380.9715
-7.2804-3.6762
LC=eig(AC)
(8)开环系统响应曲线(攻角初值为2.5):
(9)闭环系统响应曲线(攻角初值为2.5):
(10)闭环时的输入曲线:
●表2-2纵向短周期和俯仰角模态的模态控制
A=[0,0,1;
0,-0.602,1;
0,-15.988,-0.5]
001.0000
0-0.60201.0000
0-15.9880-0.5000
B=[0;
-0.0848;
0
1.0000-0.0319-0.2315i-0.0319+0.2315i
00.0030-0.2359i0.0030+0.2359i
00.94330.9433
000
0-0.5510+3.9982i0
00-0.5510-3.9982i
28.0000-0.8934-6.4827i-0.8934+6.4827i
00.0842-6.6047i0.0842+6.6047i
026.411126.4111
0.035700
-0.03510+0.0757i0-0.0757i
0.0013+0.0000i0.0189-0.0002i0.0189+0.0002i
LC=[-0.2;
-2.1+2.142i;
-0.2000
-0.0095-0.0000i
-0.1787-0.0041i
-0.1787+0.0041i
K1=(LC
(1)-L(1,1))*(LC
(2)-L(1,1))*(LC(3)-L(1,1))/P
(1)/(L(2,2)-L(1,1))/(L(3,3)-L(1,1))
11.6468-0.0000i
K2=(LC
(1)-L(2,2))*(LC
(2)-L(2,2))*(LC(3)-L(2,2))/P
(2)/(L(1,1)-L(2,2))/(L(3,3)-L(2,2))
9.0491+5.6192i
K3=(LC
(1)-L(3,3))*(LC
(2)-L(3,3))*(LC(3)-L(3,3))/P(3)/(L(1,1)-L(3,3))/(L(2,2)-L(3,3))
K3=
9.0491-5.6192i
K=[K1K2K3]
11.6468-0.0000i9.0491+5.6192i9.0491-5.6192i
)+K3*conj(V(:
3)'
0.4160-0.0000i-1.2591+0.0000i0.3607-0.0000i
G=real(G)
0.4160-1.25910.3607
-0.0353-0.49520.9694
-3.9262-4.1037-3.9048
(8)开环系统响应曲线(俯仰角速度初值为5/s):
(9)闭环系统响应曲线(俯仰角速度初值为5/s):
(1)掌握多输入单模态控制的设计步骤,及各参数的确定;
(2)会用多输入单模态控制方法设计飞行器的稳态控制器;
(3)熟悉降维状态观测器的设计方法;
(4)掌握利用状态观测器实现状态反馈的方法;
(5)会用Matlab工具进行多输入单模态控制设计和状态观测器设计
●教材第40页
A=[-0.0981,0.2957,-0.9950,0.1338;
-14.296,-1.0541,1.1395,0;
0.7717,-0.0238,-0.2981,0;
0,1.0,0.3096,0]
-0.09810.2957-0.99500.1338
-14.2960-1.05411.13950
0.7717-0.0238-0.29810
01.00000.30960
B=[0,0.0169;
-7.8013,-1.1160;
0.1454,-0.6548;
0,0]
00.0169
-7.8013-1.1160
0.1454-0.6548
00
C:
C=[0,0;
1,0;
0,1;
C=
10
01
C'
ans=
0100
0010
-0.0506-0.1356i-0.0506+0.1356i-0.00970.0166
0.90230.90230.5651-0.1439
-0.0477+0.0280i-0.0477-0.0280i0.05130.0901
-0.0532-0.3987i-0.0532+0.3987i-0.82330.9853
-0.3134+2.1844i000
0-0.3134-2.1844i00
00-0.70570
000-0.1178
-1.4155-3.7980i-1.4155+3.7980i-0.27110.4649
25.265325.265315.8242-4.0300
-1.3362+0.7847i-1.3362-0.7847i1.43712.5216
-1.4904-11.1630i-1.4904+11.1630i-23.053327.5896
-0.0337+0.1238i-0.0337-0.1238i0.1033-0.0000i-0.0176-0.0000i
0.0155+0.0057i0.0155-0.0057i0.0163+0.0000i0.0107+0.0000i
-0.0535-0.0242i-0.0535+0.0242i0.2213-0.0000i0.1987-0.0000i
0.0077+0.0010i0.0077-0.0010i-0.0196+0.0000i0.0199+0.0000i
(3)配置要求(AC的特征值):
将A的特征值中模最小的特征值配置为-1
LC=[-0.3134+2.1844i;
-0.3134-2.1844i;
-0.7057;
-1]
-0.3134+2.1844i
-0.3134-2.1844i
-0.7057
-1.0000
(4)模态可控阵,模态可观阵
R:
-0.1289-0.0481i0.0171+0.0116i
-0.1289+0.0481i0.0171-0.0116i
-0.0953-0.0000i-0.1614+0.0000i
-0.0546-0.0000i-0.1424-0.0000i
R=conj(U'
)*C
R=
25.2653-1.3362+0.7847i
25.2653-1.3362-0.7847i
15.82421.4371
-4.03002.5216
K1=P(4,1)*(LC(4)-L(4,4))/(P(4,1)*P(4,1)+P(4,2)*P(4,2))
2.0725+0.0000i
K2=P(4,2)*(LC(4)-L(4,4))/(P(4,1)*P(4,1)+P(4,2)*P(4,2))
5.4016-0.0000i
K=[K1;
K2]
G=K*conj(V(:
4)'
-0.0364-0.0000i0.0222+0.0000i0.4119+0.0000i0.0413+0.0000i
-0.0948-0.0000i0.0578+0.0000i1.0735-0.0000i0.1077-0.0000i
-0.0997-0.0000i0.2967+0.0000i-0.9769-0.0000i0.1356-0.0000i
-13.9063+0.0000i-1.2917-0.0000i-3.2722-0.0000i-0.4427-0.0000i
0.8285+0.0000i-0.0584-0.0000i-0.9411+0.0000i-0.0645+0.0000i
01.00000.30960
>
-0.7057+0.0000i
-1.0000-0.0000i
(8)状态观测器的形式(使用公式编辑器编辑式2-170和2-171)
(9)状态观测器各参数的确定[状态观测器的系统矩阵特征值取:
(自己学号最后一位+1),(自己学号最后一位+2)]
:
theta=[-9,0;
0,-10]
theta=
-90
0-10
:
M=[1,0.5;
0.5,1]
M=
1.00000.5000
0.50001.0000
T:
F:
function[T,F]=FObserveT(eva,P,R,M,theta)
n=size(eva);
[n,l]=size(R);
MRT=M*conj(R'
);
n-l
forj=1:
n
T(i,j)=MRT(i,j)/(eva(j,j)-theta(i,i));
end
F=T*P;
[T,F]=FobserveT(L,P,R,M,theta)
T=
2.6739-0.6272i2.6739+0.6272i1.9945-0.3118
1.1271-0.1732i1.1271+0.1732i1.00590.0513
F=
-0.9229-0.0000i-0.1716-0.0000i
-0.4060-0.0000i-0.1271-0.0000i
(10)模态与输出之间的关系(用输出表示模态)
INVN=[L1,L2]:
N=[conj(R'
T]
N=
INVN=inv(N)
INVN=
1.0e+002*
-0.0060-0.0032i-0.0562-0.0223i-0.2624-0.0944i0.6957+0.2698i
-0.0060+0.0032i-0.0562+0.0223i-0.2624+0.0944i0.6957-0.2698i
0.0155-0.0000i0.1414-0.0000i0.6569-0.0000i-1.7387+0.0000i
-0.0173+0.0000i-0.1501+0.0000i-0.7113+0.0000i1.8963-0.0000i
L1=INVN(:
1:
2)
L1=
-0.6039-0.3222i-5.6245-2.2308i
-0.6039+0.3222i-5.6245+2.2308i
1.5523-0.0000i14.1378-0.0000i
-1.7254+0.0000i-15.0107+0.0000i
L2=INVN(:
3:
4)
L2=
-0.2624-0.0944i0.6957+0.2698i
-0.2624+0.0944i0.6957-0.2698i
0.6569-0.0000i-1.7387+0.0000i
-0.7113+0.0000i1.8963-0.0000i
(11)状态反馈的实现(用输出表示输入)
GU[L1,L2]:
GUL=G*U*INVN
GUL=
1.0e+003*
-0.0036+0.0000i-0.0311+0.0000i-0.1474+0.0000i0.3930-0.0000i
-0.0093+0.0000i-0.0811+0.0000i-0.3842+0.0000i1.0243-0.0000i
(12)带有状态观测器的原始系统方程(查看特征值)
系统矩阵AA:
AA(1:
4,1:
4)=A
AA=
AA(1:
4,5:
6)=0
AA(5:
6,1:
4)=M*C'
6,5:
6)=theta
-0.09810.2957-0.99500.133800
-14.2960-1.05411.1395000
0.7717-0.0238-0.2981000
01.00000.3096000
01.00000.5000000
00.50001