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针对超低空空投过程中侧风干扰与装备投放过程相耦合,影响载机飞行安全和空投任务的完成等问题,提出了基于L_1自适应的控制律设计方法。利用最优控制对系统线性部分做状态反馈并确定匹配参考模型,在此基础上,考虑系统的匹配和非匹配不确定性,设计L_1自适应控制器实现姿态保持,结合外环PID侧向轨迹控制器实现对航迹的稳定和保持。仿真结果表明,控制器具有优良的控制性能,对复杂侧风干扰和系统非线性不确定性具有很强的鲁棒性,且在高自适应增益下能有效抑制输入信号高频抖振。
In order to solve the problem of the safety of carrier aircraft and the accomplishment of airdrop mission, the control law design method based on L_1 adaptive is proposed in view of the coupling of crosswind and airborne equipment during the process of airdropping. The optimal control is used to make state feedback to the linear part of the system and determine the matching reference model. Based on this, considering the system matching and non-matching uncertainties, the L_1 adaptive controller is designed to maintain the attitude, The controller realizes the stability and keeping track. The simulation results show that the controller has excellent control performance, robustness against complex crosswind and system nonlinear uncertainties, and can effectively suppress the high frequency chattering of the input signal under high adaptive gain.