基于逆动力学的机动轨迹跟踪器设计算法

Inverse flight dynamics based algorithm for design of maneuvering trajectory tracker

针对机动轨迹动力学非线性非仿射特性,建立了基于质心逆动力学的开环指令和基于非线性动态逆原理进行反馈补偿的混合逆控制方法,设计了机动轨迹跟踪控制器;并以常规机动如“S”形转弯、过失速机动如Herbst转弯等多种战术动作为例进行仿真,结果表明机动轨迹跟踪器设计算法能够胜任常规和过失速机动跟踪的需要,实时性强,延迟合理,跟踪精度高.

The control architecture was constructed for maneuvering trajectory trackers, in which the inverse flight dynamics of aircraft was solved to determine the open loop command of control. Assumed that the open loop command could bring the aircraft to the neighborhood of the desired trajectory, a feedback compensation block was designed based on the nonlinear dynamic inversion theory, which is usable for both affine nonlinear systems and linear systems. Typical maneuvers were simulated to demonstrate the architecture and the accompanying algorithm, such as the conventional angle-of-attack S-turn and the post-stall Herbst maneuver. The results show that the designed maneuvering trajectory tracker is competent for both the conventional maneuvers and the post stall maneuvers, and the precision of tracking is satisfactory.