| Popis: |
In this paper, recent Eigenstructure Assignment (EA) algorithms are implemented to provide dynamic control of a Lynx helicopter in the hover, using the ideal eigenstructure derived by Clarke et al. [2003b]. First, a state-feedback controller is presented to demonstrate that the target eigenstructure is consistent with the kinematics of a helicopter, and that the closed-loop system meets the UK Ministry of Defence Defence Standard 00-970 requirements for Level 1 handling qualities. The EA algorithm for semi-proper systems presented by Pomfret et al. [2005] is then employed to demonstrate its efficacy and to allow comparison with the state-feedback case. Finally, the gain suppression methods from Pomfret and Clarke [2005] are used to introduce structure to a controller without affecting its performance. |
