本論文以具有六自由度的高複雜度性直昇機非線性動態模型,建構直昇機/船舶動態介面模擬系統,以提供精確的直昇機降落航行中船舶之動態分析.為了完整描述此動態系統,吾人考慮之外擾,包括:陣風模型與CFD數值計算得到之海上船舶激流模型.面對此具備著外擾以及直昇機非線性動態模型之複雜系統,吾人利用線性矩陣不等式(LMI)方法,來設計飛行控制器,以提供直昇機降落於船舶之姿態控制內迴路.因此,吾人採用對於系統不確定性以及外加擾動具有良好之控制表現的混合型H2/H_inf控制器.
本論文以真實之Lynx型直昇機為研究主體,並藉由Matlab/Simulink數值軟體,建立直昇機/船舶動態介面數值模擬環境.本論文將直昇機控制迴路架構分為:內迴路之姿態控制系統與外迴路路徑控制導引系統.首先針對內迴路控制中,以不同控制性能之混合型H2/H_inf狀態回授控制器,作直昇機降落船舶之飛行模擬並對其響應加以分析.模擬結果顯示,要求較好H_inf控制性能可展現較好命令追蹤性能;反之，要求較好H2控制性能可展現較好抑制風場外擾性能.再針對外迴路控制中,以不同導引控制迴路之增益值,作直昇機降落船舶之飛行模擬並對其響應加以分析.模擬結果顯示,不同增益值可變化直昇機逼近理想降落路徑程度.最後針對系統對混合型H2/H_inf狀態回授以及輸出回授控制器對直昇機降落船舶飛行動態之影響.模擬結果顯示，兩者控制器在面對不同偏向跡流風場的作用下,均可提供飛行姿態穩定控制.因此,以上模擬可以提供完整資訊於直昇機內外迴路控制器，幫助控制器決策提供較好的系統響應.

A nonlinear dynamic model of a helicopter with highly complicated six-degree-of-freedom motions has been proposed in this dissertation. We establish a helicopter/shipboard dynamic interface by analyzing the relative motion between the helicopter and a cruising ship in different sea states, to provide the precise dynamic analysis of the helicopter/shipboard landing operation. To describe the dynamical system of landing helicopter totally, we take the wind gust model and CFD solutions of ship airwake into account as the disturbance inputs. To provide the helicopter/shipboard landing operation an attitude control, we use the Linear Matrix Inequality (LMI) method to design the inner loop attitude controller for such a complicated system with having influences provided by external disturbances and system uncertainties. Therefore, we design a mixed H2/H_inf controller with balanced H_inf and H2 robust stable flight performance, which can provide good control performances, when the system is facing different kinds of disturbances and uncertainties at the same time.
Further, we consider a real helicopter system, a Lynx type helicopter, as our control plant in this dissertation. By using Matlab/Simulink numerical software, we can build a simulation platform for the helicopter/shipboard dynamic interface to analyze and construct virtual movie of the helicopter/shipboard landing operation. The structure of helicopter's flight control loop is separated into the inner loop attitude control system for command tracking and the outer loop guidance control system for following the standard landing path, respectively. Firstly, by given a specified outer loop guidance gain, the inner loop control system with different performance of mixed H2/H_inf controller is used to estimate the landing performance. Continuously, by given the trade-off performance of mixed H2/H_inf controller, the outer loop guidance control with different control gain is used to evaluate the landing performance. Finally, the mixed H2/H_inf state-feedback and output-feedback flight controllers with trade-off performances are applied to simulate the helicopter shipboard landing operation. It also shows that the mixed H2/H_inf state-feedback controller has better control response than the mixed H2/H_inf output-feedback controller, since it feedbacks each state variable of the system to the controller according to our simulation results. Besides, both controllers can be addressed by adjusting the lading path deviation which is caused by the ship airwake and wind gust. After having controller implementation, the helicopter can reach the goal of landing on the ship-deck safely.

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