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为了确保变体飞机在变体过程中的飞行稳定性,提出了一种并行修正控制器设计方案.采用backstepping方法进行标称控制器设计,提供基本的飞行稳定性和跟踪性能.使用雅可比线性化方法对变体飞机非线性方程进行线性化得到线性化模型,采用基于指令滤波器的滚动时域优化(RHO,Receding Horizon Optimal)方法进行修正控制器设计.在有限时域区间内实时解算修正控制量,对标称控制器进行补偿.从航迹角控制系统仿真结果可以看出,航迹角能够较好地跟踪指令信号,基本不受变体过程的影响,飞行控制系统满足实时性和鲁棒性的要求.
In order to ensure the flight stability of the variant aircraft in the variant process, a parallel correction controller design is proposed.The backstepping method is used to design the nominal controller to provide basic flight stability and tracking performance.Using Jacobi linear The linearization model is obtained by linearizing the nonlinear equations of variant aircraft, and the controller design is modified by RHO (Receding Horizon Optimal) method based on command filter. The control amount is corrected and the nominal controller is compensated.From the simulation results of the track angle control system, it can be seen that the track angle can track the command signal well, which is basically unaffected by the variant process and the flight control system satisfies the real-time And robustness requirements.