关键词: 二自由度直升机, LabVIEW, 状态反馈控制, LQR 控制器

Abstract: To achieve fast and stable control of a two-DOF helicopter，a state feedback control method based on LabVIEW platform has been designed for the problem of high coupling of helicopters that can′t be solved by traditional PID controllers. According to the mechanical structure model of the helicopter system，the dynamics model of this control system in pitch and yaw directions was established. For solving the problem of the obvious coupling characteristics of the system，the state feedback controller had been designed using the LQR control strategy. Finally，the flexible online programming method of the LabVIEW platform had been used to realize the real-time and effective tracking of the pitch angle and yaw angle of the two-DOF helicopter. The experimental results showed that the signal tracking performance and decoupling performance of the LQR controller were better，which could basically meet the performance requirements of the system.

Key words: two-DOF helicopter, LabVIEW, state feedback control, LQR controller