受限控制直接分配新算法

New algorithm for constrained control direct allocation

对于三维目标的受限控制量分配问题,给出了直接控制分配方案的一种新的算法———相邻面搜索算法.直接控制分配方法的关键是找到期望目标向量与目标可达集合外表面的交点.该算法不需要确定目标可达集的所有表面,而是由目标可达集表面一个面出发,逐步确定相邻的面,直到找到与期望向量相交的面.算法放宽了原算法中控制效率矩阵任意三列线性无关的条件,并且能够在各种情况下得到最优分配结果.经验证,算法满足精确性与实时性要求.该算法的有效性在某多操纵面飞机的飞行控制系统仿真中得到了验证.

A new algorithm for the direct allocation method named “adjacent facets searching algorithm”was presented to solving the three-objective constrained control allocation problem. The key problem of direct allocation method is to determine the intersection of the desired objective vector with the convex hull of the attainable moments set（AMS）. Instead of searching all the boundary of the AMS, the algorithm proposed start from a facet in the boundary of the AMS, searching the adjacent facets one by one, until the facet with which the desired objective intersected was founded. The algorithm relaxed the restriction assumed in the original method that any three columns of the controls effectiveness matrix are linearly independent, and returns optimal solutions in any cases. The high precision and the ability of real time application were validated. Simulation result shows the effectiveness of the algorithm, when applying in the flight control system of an aircraft with multiple control surfaces