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研究一种两自由度平面变形机翼的动力学建模与控制问题。采用分析力学Lagrange方法建立了变形机翼多刚体动力学模型,模型考虑了机翼前缘所受到的空气动力载荷和外部弹性蒙皮等因素。由于变形机翼是一个强耦合、冗余驱动的非线性多输入多输出系统,采用伪逆法设计冗余驱动系统的控制分配器,采用动态逆方法实现系统精确线性化及两自由度的解耦控制,并与传统PID方法相结合构成了冗余驱动变形机翼的控制系统。通过ADAMS动力学仿真,对所建立的动力学方程进行了模型验证,并通过Matlab控制系统仿真,测试了系统的控制性能。研究结果表明,将Lagrange方法、伪逆法、动态逆控制、传统PID方法相结合可以有效解决平面两自由度冗余驱动变形机翼的动力学与控制的基本问题。
A two-DOF planar deformation wing dynamics modeling and control problem is studied. The multi-rigid body dynamics model of deformed wing was established by analytical Lagrangian method. The model considered the aerodynamic loads on the leading edge of the wing and the external elastic skin. Because the deformable wing is a strongly coupled and redundantly driven non-linear MIMO system, the pseudo-inverse method is used to design the control distributor of the redundant driving system. The dynamic inverse method is used to realize the accurate linearization of the system and the solution of two degrees of freedom Coupled control, and combined with the traditional PID method constitutes a redundant control deformation wing control system. Through the dynamic simulation of ADAMS, the established dynamic equations are verified by the model and the control performance of the system is tested by Matlab. The results show that the combination of Lagrange method, pseudo inverse method, dynamic inverse control and traditional PID method can effectively solve the basic problem of dynamics and control of redundant two-degree-of-freedom driven deformable wings.