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针对具有模型不确定性、控制舵面故障以及非线性干扰的飞机俯仰姿态控制问题,基于L1自适应方法设计增广控制器。设计合适带宽的低通滤波器,以满足控制器快速自适应要求,保证系统输入输出信号的一致性能有界。考虑伺服控制实际存在的幅值约束,推导出所设计的自适应控制系统的稳定性条件及其性能界,即忽略幅值约束时,选择足够大的自适应增益,闭环系统性能能够任意接近参考系统;考虑幅值约束时,闭环系统的性能可以通过增大自适应增益得以改善,但是不能任意接近参考系统。仿真验证了所设计的飞机姿态控制系统的有效性,结果表明控制器对有界不确定性和干扰具有鲁棒性,同时满足输入约束要求。
Aimed at the pitch attitude control of aircraft with model uncertainty, control surface failure and nonlinear disturbance, an augmented controller is designed based on L1 adaptive method. The low-pass filter with suitable bandwidth is designed to meet the requirement of fast adaptive controller and ensure the consistency of input and output signals of the system. Considering the actual amplitude constraints of servo control, the stability conditions and performance boundaries of the adaptive control system are deduced. When the amplitude constraint is neglected, a large enough adaptive gain is chosen and the performance of the closed-loop system can be arbitrarily approximated to the reference system ; Considering the amplitude constraints, the performance of the closed-loop system can be improved by increasing the adaptive gain, but can not be arbitrarily close to the reference system. Simulation results show the effectiveness of the proposed aircraft attitude control system. The results show that the controller is robust to bounded uncertainties and disturbances while satisfying the input constraints.