仿射非线性飞机运动方程的RHO优化控制

RHO optimal control for the nonlinear movement equation of aircraft

飞机运动为非线性形式且扰动有可能极大,在变化较大飞行范围内使用常规飞控系统控制这种对象会产生误差.阐述一种逐点线性化后退区间优化控制(RHO)算法,有效解决小迎角范围内飞机仿射非线性运动控制问题.首先根据飞机仿射非线性运动方程特点,提出采用逐点线性化方法,在采样点上将仿射非线性方程变为时变线性方程,以此为控制对象提出RHO控制概念,并进一步推导出两个微分Riccati(DRE)方程,分析了DRE的解法,从而计算出在线控制指令.最后结合国内某型号飞机气动数据对此算法进行了仿真,证实算法的可行性和实时性.

Since airplane movement is nonlinear and disturbance to the airplane may be too great,general fly control systems for this nonlinear object produce more errors within the range of wild changed aero process.This paper proposes the linearization method at each sampling point and Receding Horizon Optimal algorithm(RHO),which can solve the control problem of (nonlinear) movement of airplane within the range of small attack angle.Firstly,the linearization method at each sampling point was put forward,which changes nonlinear equation to time-variant equation at each sampling point.Then RHO was advanced based on the linear equation.Furthermore,two differential Riccati equations (DRE) were deduced and their solutions were analyzed;and then the online control signal is derived from RHO.At last,simulation tests on an aircraft model with aerodynamic data for normal configuration indicate the validity and real time property of the proposed algorithm.