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针对大型运输机侧风环境下超低空空投重型货物的瞬间受到三维突变和不确定干扰问题,提出一种基于四级复合控制的运输机三维控制律设计方法。在考虑侧风和地效不确定因素的基础上,建立了空投过程的不确定突变模型;为了保证飞行安全,采用四级复合方法设计了三维控制律:先逐层设计位置回路的虚拟指令,使位置、航迹和姿态的偏差向内逐层传递,再设计舵面和油门控制量消除位置和空速回路的偏差。在弱不确定性条件下,证明了控制系统的闭环稳定性。仿真结果表明,所提控制律可保证运输机侧风环境下超低空重装空投的安全性。
Aiming at the problem of three-dimensional sudden change and uncertain disturbance in the ultra-low-altitude empty-dropped heavy cargo under the crosswind condition of large transport aircraft, a three-dimensional control law design method of transport aircraft based on four-stage compound control is proposed. Based on the uncertainties of crosswind and ground effect, an uncertain catastrophe model of airdropping process is established. To ensure the flight safety, a three-dimensional control law is designed by using four-level compound method: the virtual command of position loop is designed layer by layer, So that the position, track and attitude deviation layer by layer transfer inward, and then design the rudder and throttle control to eliminate the position and airspeed loop deviation. Under the condition of weak uncertainty, the closed-loop stability of the control system is proved. The simulation results show that the proposed control law can ensure the safety of ultralight heavy-empty airdrop in the crosswind condition of the transporter.