基于线性矩阵不等式的动态控制分配方法研究

Dynamic Control Allocation Based on Linear Matrix Inequality

控制分配解决给定的控制输入指令到各个可用的执行机构的分配问题。现有的控制分配算法忽略了执行机构的动态性,假设执行机构偏转与力矩之间为静态关系,通常执行机构动态性被忽略的原因是执行机构的带宽远远比飞行器的带宽大得多。然而忽略控制分配器与执行机构交互影响可能会有严重的后果。文中将控制分配问题转化为有约束的二次规划问题,并将二次规划问题转化为基于线性矩阵不等式的动态控制分配问题。通过与传统的静态控制分配方法对比分析,本文提出的方法可以显著提高飞行器控制分配模块的有效性与精度,从而提高了飞行器姿态控制系统的有效性与精度。

The problem of distributing a given control demand among the available set of actuators can be solved by using control allocation. Due to the actuator neglected among existing control allocation schemes, a static relationship between actuator deflections and moments is generated by assuming that actuators are much faster than the dynamics of vehicle. Neglecting interactions between control allocation algorithms and the dynamics of actuators can result in severe consequence. The control allocation is converted to constrained quadratic program which is converted to linear matrix inequality （LMI） based on dynamic control allocation problem. By compared with traditional static control allocation method, the results show that the validity and precision of the control allocator and the attitude control system of the flying vehicle conspicuously are enhanced by applying the proposed method.