倾转旋翼机模态转换的鲁棒H_∞增益调度控制

Robust H_∞ Gain-scheduling Control for Mode Conversion of Tilt Rotor Aircrafts

研究了某小型倾转旋翼无人机模态转换阶段的飞行控制问题.基于鲁棒H∞控制,给出了一种模态转换飞行的增益调度方法,其设计条件具有线性矩阵不等式(LMI)的形式.针对模态转换飞行阶段存在的操纵冗余问题,给出了一套实用的舵效分配策略.通过对该飞行器转换模态纵向动力学系统进行仿真研究,结果表明,该方法可以确保飞行器能准确地按照预定轨迹完成模态转换飞行,并对模型中存在的气动参数摄动具有较好的鲁棒性,且能够有效地抑制阵风等外部扰动.

This paper is concerned with the flight control problem for small tilt rotor unmanned aerial vehicles （UAV） during con- version flights.Based on the robust H∞ control,a gain scheduling method is given, and the design condition is in the form of linear matrix inequality （LMI）.Moreover, for the purpose of handling the control-redundancy problem, a set of practical allocation strategies is provided.Finally, aimed at the conversion flight control of the aircraft,a simulation is carried out on the longitudinal dynamical model. It shows that aircraft can complete the conversion-mode flight accurately along the predetermined trajectory, and the controller is not only robust to variations of the aerodynamic parameters, but also valid for the suppression of gust disturbances.