.

45
517.977.1
965-017

,
1
. . 2 ,
(
. .. , )
, ,
. ,
, .
,
-.
: , , .

() .
, ,
, .
, .
. ,
: .

1

, 1207-00329-, ( 14.37.21.0370).
2
(aash29@gmail.com).

72


. ,
.

, .
,
. .
[12] ,
, [11]
.
.
[1], , [9].
[1], .
, [3].
, , .

[3], [2].
[7].

.
73

 . 45
Maple quasiPack.
:
[1] [13]
. [10] . 2 , , .
, ,
, ,
. , r = (3, 3, 3, 3),

. 3 .
, ,
.
1.

m
X
(1)
x = A(x) +
Bi (x)ui ,
i=1

x Rn , u = (u1 , . . . , um )T Rm , A(0) = 0, A(x) =

(a1 (x), . . . , an (x))T , B(x) = (B1 (x), . . . , Bm (x)), Bj (x) =
(b1j (x), . . . , bnj (x))T , j = 1, m, i = 1, n, ai (x), bji (x) C (),
, x = 0.

74


[3]
(2)
z11 = z21 ,
...,
zri 1 1 = zr11 ,
zr11 = f1 (z, ) + g11 (z, )u1 + + g1m (z, )um ,
...,
z1m = z2m ,
...,
zrmm 1 = zrmm ,
zrmm = fm (z, ) + gm1 (z, )u1 + + gmm (z, )um ,
1 = q1 (z, ) + p11 (z, )u1 + + p1m (z, )um ,
...,
nr = qnr (z, ) + pnr 1 (z, )u1 + + pnr m (z, )um ,
z = (z1 , . . . , zr )T , z Rr , r = r1 + . . . + rm , =
(1 , . . . , nr )T , Rnr . [2, 3] (1),
(r1 , . . . , rm ) .
1. [2]. (1) , , i (x) C (), i = 1, m,


(3)
adkA Bj i = 0, k = 0, ri 2, i, j = 1, m,

zki = Ak1 i (x), k = 1, ri , i = 1, m,
j = j (x), j = 1, n r
.
(1) ,
,
(r1 , . . . , rm ) (3),

i , i = 1, m, z,
75

 . 45
j = i (x), j = 1, n r, . .
1.1.
X1 , . . . , Xk , , F =
span(X1 , . . . , Xk ), [1].
x F (x) = span(X1 (x), . . . , Xk (x)) ,
X1 (x), . . . , Xk (x). F
x F (x). ,
x .
W , Xi , i = 1, . . . , k, .
,
B = span(B1 , . . . , Bm )
x0 m. , .
1 = span(X1 , . . . , Xk ), 2 = span(Y1 , . . . , Ym ).

3 = span(X1 , . . . , Xk , Y1 , . . . , Ym )

3 = span(1 , 2 ).

4 = span([Xi , Yj ], i = 1, k, j = 1, m)
76



4 = [1 , 2 ].
:
BA = A + B = (A + B : B B),
[, ] = span([X, Y ] : X , Y ),
adlA C = span(adlA X : X C).
(1). , B
m . (1)
B0 = B,
B1 = span(B, [BA , B]),
...


Bj = span(Bj1 , BA , Bj1 ),
(4)
L0 = B,
L1 = span(ad1A B, B),
...
k1
Lk = span(adkA B, B ).
, (4)

x0 . ni :
n0 = dimB0 = m
0
n1 = dimL1 dimB ,
..
.
i1

ni = dimLi dimB
..
.

,
i1
,
B
adiA B. [13] ,
n0 , . . . , ni , . . . .

(5)
ri = |nj > i, j > 1|.
77

 . 45
[13]
.
2. A x0 ,
span(B1 , . . . , Bm ) m.
x0 ,
(1)
ri , (5);
(1) r1 , . . . , rm , i = 1, 2, ..., m ri 6 ri .
2 . ri q
. li , i = 1, q, ki
. li ki .
ni1 = dimLi1 dimBi2 .
,
. , , l1 , k1 ni .
di2 = ni1 k1 .

l2 , k2 .
, .
ki , , li .

li ki .
, [3, 4].
78


1. .
i
ni1 =dim Li1 - dim Bi2 di2 = ni1 k1
1
m
n0 k1
...
*
n1 k1
...
*
k2
...
*
0
...
*
0
s
k1
0
s+1
0
0

di3 = di2 k2
n0 k1 k2
n1 k1 k2
*
0
0
0
0

1.2.
,
r = V,
mV = F,
= Db ,
Jb b = Mb b Jb ,
r = (x, y, z) -
, = (, , ) ,

sin
0
1
b = cos cos sin 0
sin cos cos 0
sin
0
cos
cos
D= 0
sin
1 sincos

cos
cos

sin .
sin
coscos

[10],
, :
F vf , ;
F ht , ;
F f us , ;
M m , ;
M t , ;
79

 . 45
F mr , ;
F tr , ;
G .
F vf F ht , .
 cos cos sin cos cos + sin sin sin cos sin + sin cos 
sin
cos cos
cos sin
R=
.
cos sin

sin sin cos + cos sin

sin sin sin + cos cos

F , ,

F = R(Fbmr + Fbtr ) + F f us + G.
F mr , , . , , ,

T
F mr = 0 T mr 0
.
mr


F
sin cos
mr

cos cos T mr .
(6)
Fb =
sin
tr
tr
Fx Fy F tr
[10], F tr , ,


0
tr

0 T tr .
Fb =
1

G, ,

0
G = 1 mg.
0
80


F f us

cx Sxf us Vx
1

F f us = V cy Syf us (Vy + Vimr ) ,

2
cz Sbf us Vz
p
V = Vx2 + Vz2 + (Vy + Vimr )2 . M , , ,
,
M = Mbm + Mbt + Mbmr + Mbtr + Mbf us .
[12]

Mxm
sin cos
ax
Mbm = Mym = 0 cos cos Qm ,
sin
am
Mzm
z

0
Mbt = 0 Qt ,
1
Qm Qt
Qm = cm (T mr )1,5 + dm , Qt = ct (T tr )1,5 + dt ,
m
cm , ct , dm , dt , am
x , az
. Mbmr , Mbtr , Mbf us

Mbmr = rmr Fbmr ,

Mbtr = rtr Fbtr ,
Mbf us = rf us Fbf us ,
rmr , rtr , rf us .
Fbvf , Fbht , Fbf us ,
81

 . 45
R
.
Fbht = RT F ht ,
Fbvf = RT F vf ,
Fbf us = RT F f us .
, , T tr T mr ,
.
, ,
mV = F,
= Db ,
Jb b = Mb b Jb ,
(7)
T mr = w1 ,
T tr = w2 ,
= w3 ,
= w4 .
(7), ,
,
F = 0,
Db = 0,
(8)
Mb b Jb = 0.
. [10]
. , Matlab, :
rx0 = 0, Vx0 = 0,
ry0 = 0, Vy0 = 0,
rz0 = 0, Vz0 = 0,
T mr0 82, 4436,
T tr0 4, 4828,
82

0 = 0,
0 = 0,
bx
0 = 0,
0 0.2068, by
0
0 = 0,
0.0642, bz
0 0, 2073,
0
0, 1171.


2.


x1 = rx , x4 = Vx , x7 = ,
x2 = ry , x5 = Vy , x8 = 0 ,
x3 = rz , x6 = Vz , x9 = 0 ,
x15 = 0 , x16 = 0 ,
x10 = bx , x13 = T mr T mr0 ,
x11 = by ,
x14 = T tr T tr0 ,
x12 = bz .
R16 . R, Fbr = Fbmr + Fbtr , F f us , D, Mb ,
F r = F mr + F tr , F f us , D,

xi , R,
b
b
b
b .
M
x 1 = x4 ,
x 2 = x5 ,
x 3 = x6 , h
1
7 , x8 , x9 )F r (x13 , x14 , x15 , x16 )+
x 4,6 = m
R(x
i b
f
us

+F (x4 , x5 , x6 ) + G ,
7 , x8 , x9 )x
x 7,9 = D(x
(9)
10,12 ,
1
x
= J [Mb (x4 , x5 , x6 , x13 , x14 , x15 , x16 )
10,12

x10,12 Jb x10,12 ] ,
x 13 = u1 ,
x 14 = u2 ,
x 15 = u3 ,
x 16 = u4 .
xi,j -
(xi , xi+1 , . . . , xj )T .
x = 0, , . n0 = dimG = 4,
0
1
n1 = dimL1 dimG = 4, n2 = dimL2 dimG = 4,
2
n3 = dimL3 dimG = 0.
83

 . 45
2. (9)
i ni =dim Li dim Bi1 di2 = ni1 k1
1
4
0
2
4
0
3
4
0
4
0
0
, 2, k1 = 4, l1 = 3.
, r1 = 3, r2 = 3,
r3 = 3, r4 = 3.
, r = (3, 3, 3, 3).
(3), , i
i (x1 , x2 , x3 , x7 , x8 , x9 ), i = 1, 4.

z11 = x1 , z12 = x2 , z13 = x3 , z14 = x7 .

z1i , i = 1, 4, (9),

(10)

z21 = z11 = x4 ,
z22 = z12 = x5 ,
z23 = z13 = x6 ,
1x
z24 = z14 = D
10,12 ,
13
13
1 r
1 f us
z3 = z2 = m
R Fb + m
F
+g ,

1
4
4
1 J [M
b x
z = z = D1 x
+D
3

10,12

10,12

Jb x10,12 ] ,

1 D.

84

z11 = x1
z21 = x4 ,
z12 = x2 ,
z22 = x5 ,
z13 = x3 ,
z23 = x6 ,
z14 = x7 ,
(11)
1x
z24 = D
10,12 ,
13
1 f us
1 r
z3 = m R F b + m
F
+ g,

1
4
b x
1 J [M
z3 = D1 x10,12 + D
10,12 Jb x10,12 ],
b
1 = x8 ,
2 = x9 ,
2x
3 = D
10,12 ,

4 = D3 x10,12 .

quasiPack [5] Maple.
(9) , .. ,
z x. ,
,
(11), .
z21 = z11
z22 = z12
z23 = z13
1x
z24 = z14 = D
10,12
13
13
1 r
1 f us
z3 = z2 = m
R Fb + m
F
+g

1x
1
z34 = z24 = D
10,12 + D1 Jb [Mb x10,12 Jb x10,12 ]

1
1 r 0
1
z313 = m
R Fbr + m
R (Fb )x13,16 u + m
F f us
1 x
1
z34 = D
10,12 + 2D1 Jb [Mb x10,12 Jb x10,12 ]+
1 J 1 [(M
b )0x x + (M
b )0x
+D
u
b
4,6 4,6
13,16
x 10,12 Jb x10,12 x10,12 Jb x 10,12 ] ,
85

 . 45

23 x
12 = D
10,12 ,

34 = D23 x10,12 +
23 J 1 [M
b x
+D
b

10,12

Jb x10,12 ].

z11,3 , z21,3 , z14 , 1 , 2 , z24 ,

3 , 4 , z31,3 , z34 , x1,16 .

E 0
0
0
0
0 E

0
0
0

E
0
0
(z, )
0 0

=
.
0

D
0
0
0
D
x

(x)
10,12

1 0
1
0
0 0

R
F
0
RF

m
0
m


0
4
4
1
0

0 0
z3
z3 D1 I M
,

D
0
1
0

,
 0
m RF
0
1
0

D1 I M
,
D
 1

0
m RF
.
1 I 1 M 0
D

R ,
:


F0
.
1 I 1 M0
D
, 1 I 1 M 0
, F0 D

86


. ,
xi = 0, i = 1, 16,
, , .
,
,
z.
. = P (z, ) ,
. , x.
, :
P
P x
=
.
(z, )
x (z, )
,
.

 (z, )  1
x 

.
=
(z, ) (z=0,=0)
x x=0
, ,
z, :

0, 0
0, 0
1, 000135
0, 0

0, 0
0, 0
2, 033510 1013 1, 0

137, 623846 2, 981054

0, 0
0, 0
2, 918847
254, 846348
0, 0
0, 0
, ,
87

 . 45
. , , [6].
, , .

(9)
[8], ,
.

. 1.

88

. 2. x z
3.
(1)
y:
z11 = z21 , . . . , zri 1 1 = zr11 ,
zr11 = f1 (z, ) + g11 (z, )u1 + + g1m (z, )um ,
...,
z1m = z2m , . . . , zrmm 1 = zrmm ,
(12)
zrmm = fm (z, ) + gm1 (z, )u1 + + gmm (z, )um ,
= q(z, ),
y = (z11 , z12 , . . . , z1m )T ,
(gij (0, 0))i,j=1,m .

(13)
= q(0, )
( ).
= 0 89

 . 45
, (1) y = (x)
( x = 0) [11].
, q(z, ) = q(z 1 , z 2 , ). (9) ,
(14)
1x
y1 = z11 = x4 , y2 = z12 = x5 , y3 = z13 = x6 , y4 = z14 = D
10,12 .
,
r = (2, 2, 2, 2).
K,

R = (A B 1 K + B 2 (E + KB 2 )1 (KA + KB 1 K)) < 0,
z 1 , z2 Rm , Rl , l =
 n 2m,
q 
1 = q 
A =
, B2 =
,
B

z 1 
z=0,=0

z=0,=0

q 
.
z 2 z=0,=0

K max(Re(i )), i
K

R, K. Maple

 1, 29
0, 621
0, 716
0, 701
3, 48
1, 88
0, 778
0, 0319
1, 61
0, 140
0, 685
1, 94
2, 41
1, 28
0, 335
1, 18
K = 0, 948 1, 38 1, 21 1, 02 0, 156 2, 57 0, 284 0, 759
,
1, 29

0, 842

1, 06

1, 0

0, 776

1, 19

90

10, 8
0, 757 + 2, 029 i
0, 757 2, 029, i
0, 675 + 0, 947 i
0, 675 0, 947 i
0, 687 + 0, 356 i
0, 687 0, 356 i
0, 661

0, 425

7, 98



(15)
y = y + K.

z114 = y14 ,
z214 = z114 ,
= .

z113 = z213 ,
z14 = z24 ,
z213 = f13 (x) + g123 (x)u,
z24 = f4 (x) + g4 (x)u,
(16)
13 = x46 ,
1x
4 = D
10,12 ,
23 x
56 = D
10,12 ,

1
23 x

78 = D
10,12 + D23 Jb [Mb x10,12 Jb x10,12 ].
f(x) g(x) Maple
. (9),(15)
-, ..
. , (15), z
. .
4.
, , .
.
.
91

 . 45
5.
,

, . (n = 16),
. [12] , ,
,
. . i , (3) - .

1.

2.

3.

4.

5.
92

.., ..
: .
.: - . .. , 2005. 520 .
.., .. // . 1992. . 28.
. 19451952.
..
// .
.. . 1988. 512. . 69 87.
.. // . 1991. 2. C. 5 14.
2012617543. quasiPack / .. , .. -

6.

7.

8.

9.
10.

11.
12.

13.

. 21
2012 .
.., .. - // : . ., 2010. . 48 51.
.., .. // . .. . . 2013. 1. C. 3 16.
.. //
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. 2012. 10. [ ]. URL:
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02.02.13).
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systems // Kybernetika. 1970. Vol. 6, 3. P. 176188.
GAVRILETS V., METTLER B., FERON E. Dynamic Model
for a Miniature Aerobatic Helicopter // MIT-LIDS report
2003. No. LIDS-P-2580. 22 p.
ISIDORI A. Nonlinear control systems. London: SpringerVerlag, 1995. 587 p.
KOO T.J, SASTRY S. Output Tracking Control Design of
a Helicopter Model Based on Approximate Linearization //
Proc. 37th IEEE Conference on Decision & Control. Tampa
(Florida, USA), 1998. Vol. 4. P. 36353640.
MARINO R. On the largest feedback-linearizable
subsystem // Systems & Control Letters. 1986. 6.
P. 345351.

93

 . 45

HELICOPTER MODEL AND ITS QUASICANONICAL

FORM
Andrey Shevlyakov, Institute of Control Sciences of RAS Moscow
(aash29@gmail.com).
Abstract: We consider the mathematical model of a helicopter
described by a system of ordinary differential equations. These
equations are transformed to the quasicanonical form. Then we
analyse the subsystem governing the zero dynamics of the system and
find the outputs with respect to which the system is a minimum-phase
one.
Keywords: quasicanonical form, nonlinear systems, zero dynamics.

. .
.
03.02.2013.
30.09.2013.

94