碟形飞行器复合控制系统的控制分配策略研究

Research on Control Allocation of Saucer-like Air Vehicle Compound Control System

碟形飞行器复合控制系统是一个高度非线性的多输入系统,通过对碟形飞行器所受合外力和力矩的分析并根据纵向运动假设得到碟形飞行器纵向运动简化方程,进行小偏差线性化得到纵向通道变质量矩/推力矢量复合控制线性化方程。针对两类执行机构如何协调控制这一难题,文章采用控制分配思想在结构上对碟形飞行器复合控制系统进行了优化,并分别采用了广义逆控制分配方法和基于二次规划的直接最优分配方法进行了仿真研究,结果表明控制分配方法能有效地协调两类执行机构的控制,并具有较强的鲁棒性。

Saucer-like air vehicle longitudinal locomotion simple equation was obtained by analysis of the external force and moment of saucer-like air vehicle and by longitudinal locomotion hypothesis. Then longitudinal locomotion linear equation of the compound control system of the saucer-like air vehicle was obtained by little deviation linearization. A control allocation method had been designed for optimizing the structure of saucer-like air vehicle compound control system, to solve the problem of coordinating two actuator control system. Simulation adopted generalized inverse control allocation method and direct optimal allocation method based on quadratic programming. The result showed that the control allocation method could coordinate the control effectively and had a better robust performance.