针对三自由度直升机模型系统的位置跟踪问题,考虑到该模型系统是一个典型的高阶、不稳定、多变量、非线性系统,为了获得令人满意的控制效果,通常采用复杂的控制方法如线性二次型调节器(LQR)控制,该方法对模型的精确性要求较高,所建立系统模型的精度高低直接影响控制效果的好坏。为获得该模型系统较满意的控制方案,从实际应用的角度出发,采用逻辑控制方法设计出了逻辑控制器,它可直接根据当前偏差和偏差变化量计算出与此相适应的控制量,不需要对系统进行建模,具有较强的抗干扰性能;针对时滞问题,通过引入微分反馈,抑制了由时滞引起的超调;最后进行了半实物仿真实验。研究结果表明:该方法调节时间更短,几乎零超调,控制效果明显优于LQR控制。 Considering that the model system is a typical high-order, unstable, multivariable and nonlinear system, in order to obtain a satisfactory control effect, a complex control method is usually adopted to solve the position tracking problem of a three-DOF helicopter model system Linear quadratic regulator (LQR) control, which requires high accuracy of the model. The accuracy of the established system model directly affects the quality of the control effect. In order to obtain a more satisfactory control scheme for the model system, a logic controller is designed by using the logic control method from the perspective of practical application. The logic controller can directly calculate the control amount corresponding to the variation according to the current deviation and the deviation. We need to model the system and have a strong anti-jamming performance. For the time-delay problem, by introducing differential feedback, the overshoot caused by the time delay is suppressed. Finally, a semi-physical simulation experiment is carried out. The results show that the method has shorter adjustment time and almost zero overshoot, and the control effect is obviously better than LQR control.