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针对常规显式非线性动态逆控制鲁棒性差的问题,综合隐式动态逆和奇异摄动分层设计,引入状态速率(导数)和操纵面的当前位置信号的反馈,设计鲁棒动态逆控制律,不需要完整的飞机气动力模型,敏感度降低。利用过载测量信号采用几何的方法,构建角加速度信号,其它状态速率信号,基于飞机动力学方程求解得到。同时采用自适应权矩阵和多级舵面操纵分配策略,降低舵面速率/位置饱和。控制律结构简单,当飞机存在外形损伤、舵面或传感器失效时,能够迅速实现测量信号的隔离、反馈信号的重建和控制的重新分配和控制律重构。针对某型飞机建立高准确度的仿真模型,计算结果表明在存在气动力摄动、测量偏差干扰、噪声和舵面限制等的情况下,控制律具有良好的鲁棒性。
Aiming at the poor robustness of the conventional explicit nonlinear dynamic inverse control, the implicit dynamic inverse and singular perturbation hierarchical design are introduced. The state velocity (derivative) and the feedback of the current position signal of the control surface are introduced to design a robust dynamic inverse control Law, does not require a complete aerodynamic model of the aircraft, reducing the sensitivity. The use of overload measurement signal using geometric methods, the construction of angular acceleration signal, the other state rate signal, obtained based on aircraft dynamics equation. At the same time, adaptive weight matrix and multistage rudder control are used to reduce the rudder velocity / position saturation. The control law structure is simple. When the aircraft has the shape damage, the rudder surface or the sensor fails, the isolation of the measurement signal, the reconstruction of the feedback signal, the control redistribution and the control law reconstruction can be quickly realized. The simulation model with high accuracy is established for a certain type of aircraft. The calculation results show that the control law has good robustness in the presence of aerodynamic perturbation, measurement deviation interference, noise and rudder limit.