考虑舵面饱和的鲁棒可重构控制律设计及仿真

Robust Reconfigurable Control Law Design with Actuator Saturation

针对常规显式非线性动态逆控制鲁棒性差的问题,综合隐式动态逆和奇异摄动分层设计,引入状态速率(导数)和操纵面的当前位置信号的反馈,设计鲁棒动态逆控制律,不需要完整的飞机气动力模型,敏感度降低。利用过载测量信号采用几何的方法,构建角加速度信号,其它状态速率信号,基于飞机动力学方程求解得到。同时采用自适应权矩阵和多级舵面操纵分配策略,降低舵面速率/位置饱和。控制律结构简单,当飞机存在外形损伤、舵面或传感器失效时,能够迅速实现测量信号的隔离、反馈信号的重建和控制的重新分配和控制律重构。针对某型飞机建立高准确度的仿真模型,计算结果表明在存在气动力摄动、测量偏差干扰、噪声和舵面限制等的情况下,控制律具有良好的鲁棒性。

In order to solve the robustness problem of regular explicit nonlinear dynamic inversion （NDI） control law,the robust NDI control law was designed via implicit dynamic inversion （DI） and singular perturbation methods,in which the state speed （derivative） and the current actuator position were fed back,and the whole aerodynamic model was unnecessary,and as a result,the sensitivity to aircraft model was decreased. The angular acceleration was established utilizing a special geometrical method through overloading information,and the other state speed was obtained based on the aircraft dynamic equations. The rate/position saturation was reduced by using adaptive weighting matrices and the multi-pass allocator solu-tion. The control structure was simple,and the isolation of measurement signals,reestablishing of feedback signal,re-allocation of control power and the reconfiguration of control law can be achieved conveniently and rapidly. The control law design and computer simulation using a high precision aircraft model with aerodynamic perturbation,external distur-bance and nonlinear actuator demonstrate that the robustness of the control law is increased.