高超声速飞行器的混合规划控制分配策略

Mixed Programming Control Allocation Scheme for Hypersonic Flight Vehicle

为解决具有不同性质的操纵控制量间的优化分配问题,针对高超声速飞行器的离散系统,研究了气动舵面与反作用控制系统协同作用时的控制分配策略.采用反步法获得期望力矩;为达到最优的控制效能并最大限度地使用气动舵面,提出了混合规划的控制分配策略将期望力矩合理分配至气动舵面和反作用控制系统.而气动舵面与反作用控制系统之间的操纵权限分配,采用链式分配方式,即仅当气动舵面饱和时启动反作用控制系统.气动舵面间的控制分配采用包含执行机构动态性的二次规划方法,并将问题转化为基于线性矩阵不等式的目标函数最小化问题求解.反作用控制系统的控制分配采用0-1整型线性规划进行求解.仿真结果表明,所提的控制分配策略能够实现异类执行机构间的优化分配且能保证对期望控制输入的精确跟踪.

With focus on the reentry attitude model of a hypersonic flight vehicle,we study the control allocation of aerodynamic surfaces and the reaction control system to solve the optimal allocation between different types of control effectors. We use the back-stepping method to determine the desired moment. To achieve optimum control efficiency and maximum use of aero-surfaces,we propose a mixed programming control allocation strategy. The allocation between aero-surfaces and the reaction control system is conducted by a daisy chain. The reaction control system does not launch until the aero-surfaces are saturated. The moment allocation between the aero-surfaces is conducted by quadratic programming,which includes all the information of the dynamics of actuators. We resolve the quadratic programming by using linear matrix inequality. The moment between the reaction control systems is allocated by 0-1 integer linear programming. Simulation result indicates that the mixed programming control allocation scheme not only achieves reasonable allocation between different types of control effectors but also ensures accurate tracking of the expected control input.