基于LQ/RHO多回路技术的变体飞机控制器设计

Design of a controller for morphing aircraft based on the LQ/RHO multi-loop technology

为了确保变体飞机在变体过程中的飞行稳定性,提出了一种多回路控制器设计方案.采用线性二次(LQ,Linear Quadratic)输出反馈方法进行内回路控制器设计,确保在机翼固定状态下飞行稳定性.在变体过程中,用一不确定项来描述变体过程中存在的干扰噪声和未建模的动态特性.采用基于参考模型的滚动时域优化(RHO,Receding Horizon Optimal)方法进行外回路修正控制器设计.仿真结果表明:实际系统的输出响应较好地跟随参考模型的输出,不受变体速率的影响,满足实时性和鲁棒性的要求.

In order to ensure the flight stability of morphing aircraft under the morph state, a multi-loop controller was proposed. The inner-loop controller was designed by the linear quadratic （LQ） output feedback approach, which was used to ensure stability under the fixed-wing state. In the process of morphing, an inde- terminate term was introduced to describe the interferences and unmodeled dynamics. The outer-loop controller was designed by the receding horizon optimal （RHO） algorithm, which was used to calculate the real-time control correction value within a finite horizon. The simulation results show that the proposed controller is able to yield a consistent response regardless of morph rate, and that it satisfies the requirements of real-time and robustness.