基于权值优化的多操纵面抗饱和控制分配策略

Anti-windup control allocation strategy for over-actuated aircraft based on weight optimization

针对多操纵面飞行器难实现协调控制、易陷入舵面饱和的问题,基于权系数空间优化,提出了两类最优抗饱和赋权控制分配策略。研究了加权伪逆和混合优化分配两类方法统一的控制律和共有的权系数优化特性。以实际舵偏误差为变量,分别构造李雅普诺夫函数,沿误差下降的梯度方向推导出保证系统稳定的线性矩阵不等式,以权系数变化最小为目标建立了抗饱和赋权控制分配权系数优化模型。结果表明,该方法在保证精确跟踪主环虚拟控制指令的同时,能够快速地调节操纵面饱和状态下的控制权系数,较好地实现了抗饱和控制。

With regard to the difficulty of cooperating deflection and the easiness of running into saturation for over-actuated aircraft, two optimal anti-windup weighted control allocation schemes are proposed based on the dimensional optimization of weight coefficients. After researching the principle of weighted pseudo-inverse and mixed optimization methods, both their uniform control law and mutual optimization characteristics are obtained . The Lyapunov function is defined by taking the actual deflection errors as variables. To ensure the system stability, the linear matrix inequality is deduced by solving the gradient of control errors. Through minimizing the variation of weight coefficients, the optimal anti-windup weighted control allocation model is established . The simulation result shows that proposed control scheme not only can track the main-loop virtual control instruments accurately, but also can adjust the weight coefficients of surfaces under saturated state fast to achieve the anti-windup control.