多操纵面控制分配策略的虚拟可达集研究

Research on Virtual Attainable Subset of Control Allocation in Multi-effector Aircraft

针对现代飞行器操纵面个数多且控制效率相互耦合,难于直接构建虚拟控制指令可达集的问题,在研究控制分配技术的基础上提出了一种通用的构建方案。基于线性控制分配模型,分别对独立操纵面和共面操纵面两种情形分析了虚拟控制指令可达集的基本性质。通过向量的空间运算获取了可达集的边界顶点,结合凸包络理论构建了可达集的几何外形,给出了其体积的计算方法。仿真实验表明,该方案不受操纵面个数的限制,能够快速准确地构建所有操纵面组合的虚拟控制可达集,对其他过驱动系统都是可行的。

To the problem that the virtual attainable subset can hardly be constructed for modern aircraft with excessive effectors and coupling control efficiencies, a general scheme is presented on the basis of control allocation technology. For linear control allocation model, the basic properties of virtual attainable subset in the case of independent controls and coplanar controls are analyzed respective- ly. The boundary vertices of attainable subset are obtained through vector operations and the geometrical shape of attainable subset is constructed using convex envelop theory. Then the method to calculate the volume is presented. The simulation result shows that the scheme unlimited by the effector＇ s number can construct the virtual attainable subset rapidly and precisely for all the control deflections and be feasible to other overactuated system.