摘要
针对具有大的不确定性和强非线性性的被控对象,提出了将定量反馈理论QFT与μ-综合法相结合的控制器设计算法。应用动态逆方法处理对象非线性不确定性,基于H—infinity优化方法设计初始控制器,当μ-综合对闭环权函数进行调整难以有效改进控制品质时,依据开环性能指标边界采用QFT方法对初始控制器进行调整,显示出QFT开环调整具有透明性和频段剪裁性。针对具有复杂非线性特性的F-16攻角控制问题,在空速变化50~150m/s、气动数据变化±20%的范围内,实现对攻角的大范围精确控制。与基本QFT控制器相比,仿真结果表明所设计系统具有优良的响应特性。
A combined QFT/μ controller design method for the plant with uncertainty and high nonlinearity is proposed in this paper. A dynamic inversion (DI) method is used to treat plant' s nonlinear uncertainty, and then a method of incorporating QFT (Quantitative feedback theory) with μ technique is developed. Based on the/μ-synthesis, an initial controller is given. When the controller quality can not be improved effectively by tuning closed-loop weighting function, QFT is used to shape an open-loop transfer function according to the performance index bounds. The shaping has transparency in Nichols Chart and tailor-characteristic on special frequencies. In the light of angle of attack (AOA) control of F-16 with complicated and nonlinear features, the designed control law demonstrates perfect performance by following AOA commands at flight speeds raging from 53 to 150m/s. Robustness is verified by ±20% variations in pitching moment derivatives. The simulation results show that the proposed method has perfect responses compared with an original controller.
出处
《南京理工大学学报》
EI
CAS
CSCD
北大核心
2006年第3期296-301,共6页
Journal of Nanjing University of Science and Technology
关键词
定量反馈理论
μ-综合
动态逆
quantitative feedback theory (QFT)
μ-Synthesis
dynamic inversion