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为了确保变体飞机在变体过程中的飞行稳定性,提出了一种多回路控制器设计方案.采用线性二次(LQ,Linear Quadratic)输出反馈方法进行内回路控制器设计,确保在机翼固定状态下飞行稳定性.在变体过程中,用一不确定项来描述变体过程中存在的干扰噪声和未建模的动态特性.采用基于参考模型的滚动时域优化(RHO,Receding Horizon Optimal)方法进行外回路修正控制器设计.仿真结果表明:实际系统的输出响应较好地跟随参考模型的输出,不受变体速率的影响,满足实时性和鲁棒性的要求.
In order to ensure the flight stability of the variant aircraft during the variant process, a multi-loop controller design scheme is proposed. The inner loop controller is designed by linear Quadratic output feedback method, In the process of variant, an uncertain term is used to describe the disturbing noise and the unmodeled dynamic characteristic in the process of variant.Using the reference model-based rolling horizon optimization (RHO, Receding Horizon Optimal method is used to design the external loop controller. The simulation results show that the output response of the real system can follow the output of the reference model well and is not affected by the variation rate to meet the real-time and robustness requirements.