设计了直升机LQR 最优控制系统,并针对LQR 控制中加权矩阵Q和R 难以确定的问题,进行了试验分析,从实际控制效果出发,找出了系统响应与Q和R 之间遵循的规律,为在利用该方法进行其它控制系统设计中Q和R 的选取提供了参考。关键词:线性二次型调节器;直升机系统;最优控制Abstract:A helicopter LQR optimal control system is designed in this paper.The paper makes an analysis of the weighted matrix Q and R through some experiments to determine the Q and R and found the rule of between the system response and matrix Q and R and provides references for choosing the Q and R to design other control systems.Keywords:LQR;helicopter system;optimal control
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