最优控制L_1自适应在重装空投纵向控制器设计中的应用

Design of longitudinal controller for flight in heavy-weight airdrop based on optimal control and L_1 adaptive

为保证空投过程中载机的姿态和高度稳定,采用结合最优控制的L_1自适应控制方法设计了飞机纵向控制器.利用最优控制产生线性控制信号并确定匹配参考模型,在此基础上将系统非线性转化为L_1自适应控制结构中的匹配和非匹配不确定性实现姿态保持,结合外环PID高度控制器完成整个飞控系统的设计.仿真验证了控制器的强鲁棒性,可以抑制高自适应增益下输入信号中的高频抖振.

In order to ensure the carrier aircraft attitude and height stability during heavy-weight airdrop, we develop a novel controller based on optimal and L1 adaptive control, Produce liner control signals by the optimal control and determine the matched reference model. Based on which, we transform the system nonlinearity into the matched and unmatched uncertainty of L1 control system. Combing the inner loop control with the outer loop PID control for flightaltitude, we developed the entire flight control system. Simulation results are presented which show that the controllers are effective to suppress the undesirable high frequency dynamics from the control signal and have good robustness to the uncertainty and the nonlinearity.