保证内回路稳定的鲁棒可靠控制器设计

Robust Reliable Controller Design Which Guarantees Stability of Inner Loop System

鲁棒可靠控制器的设计是容错飞行控制系统研究的重要内容,设计思想就是建立系统的正常情况下的模型和故障情况下的模型,根据Lyapunov稳定性定理求得反馈增益K,使得其能保证正常情况和故障情况下都能满足一定水平的指标要求。基于参数依赖Lyapunov方程和迭代线性矩阵不等式在直升机不确定性、H∞/LQ性能指标约束下提出直升机鲁棒可靠控制器设计方法,保证跟踪增广系统中内环系统的稳定性,通过仿真验证了该算法的有效性。

The former methods for the robust reliable controller design are more conservative and could not guarantee the stability of the inner one of the augment tracking system. To solve these problems, an algorithm for the controller design was proposed based on multi-objective optimization via parameter dependent Lyapunov functions and an ILMI approach. The helicopter parameter uncertainty and the disturbance of wind were considered during the design process. The multi-objective optimization methodology under the mixed H∞/LQ constraint was used to ensure that the designed helicopter flight tracking controller guarantees the stability the inner loop system. The augment system attains the optimal tracking performance during normal system operation and maintains an acceptable lower level of tracking performance in the event of actuator faults.