可控度及其在六旋翼飞行器中的应用.pdfVIP

2013年第3卷 第3期 67 可控度及其在六旋翼飞行器中的应用# 杨斌先，杜光勋，全权，蔡开元** （北京航空航天大学自动化科学与电气工程学院，北京 100191 ） 摘要：系统的可控度在某种程度上反映了系统控制的难易程度。可控度的概念是对可控性概 念的推广，将可控性的二值概念拓展到一个连续的标量概念。可控度目前没有一个统一的定 义，学者们从不同的角度提出了不同的定义。本文对Viswanathan 等人提出的可控度定义进 行了改进。将原定义的控制输入约束由[-1,1]的对称区间拓展到[a,b]非对称区间，并给出了 基于系统离散化的可控度计算方法。最后运用该理论对不同结构布局的六旋翼飞行器姿态可 控度进行了比较，并分析了当六旋翼飞行器有一个和两个旋翼停机时的姿态可控度。 关键词：可控度；系统离散化；六旋翼 The Degree of Controllability and an Application for Hexacopter YANG Binxian, DU Guangxun, QUAN Quan, CAI Kaiyuan (Automation Science and Electrical Engineering School,Beihang University, Beijing 100191) Abstract: The degree of controllability is in some sense a measure of how easy it is for the controller to control the system. The concept of the degree of controllability is the promotion of controllability. It develops from the binary concept controllability into a continuous scalar concept. The degree of controllability at present does not have a unified definition. Some scholars put forward different definitions from different aspects. In this paper, we improved the definition of the degree of controllability proposed by Viswanathan, expanding the control input constraint from [-1, 1], a symmetric interval, to an asymmetric interval [a, b]. And we gave the computation method of the degree of controllability base system discretization. At last, we compared the degree of controllability of hexacopter’s attitude with different structure and analyzed the degree of controllability of the hexacop