基于改进的分段常数自适应动态逆控制方法研究

An adaptive dynamic inversion control method based on improved piecewise constant for flight control system

针对非线性动态逆控制在扰动影响下鲁棒性不足的问题,提出一种适用于工程的基于改进分段常数自适应动态逆控制方法,用于增强控制系统对干扰的鲁棒性以及提高控制响应的准确性。在扰动影响下对模型做出合理的分析;提出了适用于飞行控制系统的改进的分段常数自适应动态逆控制方法;证明了设计的控制器在扰动影响下的稳定性和动态特性,以及改进后的分段常数自适应的误差收敛范围;对飞机模型进行描述给出了符合实际战斗机控制需求的自适应动态逆角速度控制策略,并且基于改进后的方法设计控制律并在执行机构故障和重心突变扰动下进行仿真,对比验证了基于改进的分段常数自适应动态逆方法设计的控制器的鲁棒性和动态性能。结果表明基于改进的分段常数自适应动态逆控制具有鲁棒性强、控制精度高的特点。

To overcome the lack of robustness of the nonlinear dynamic inversion(NDI)control,a simple and practical adaptive NDI control method based on an improved piecewise constant is proposed in this paper to enhance its robustness to disturbances and improve the accuracy of response tracking.Firstly,reasonable assumptions and analyses are made for the system with the influence of disturbance.Secondly,an improved piecewise constant adaptive NDI control method suitable for general flight control systems is proposed.The stability of the control system with disturbance and the error convergence range of the improved piecewise constant adaptive control are proved and analyzed theoretically.Finally,taking into account the fighter actual control requirements,the angular rates control strategy is given,and the proposed method is applied to the angular rates flight controller design.Matlab simulations are carried out under the disturbance of the actuator failure and the sudden change of the center of gravity,and the robustness and dynamic performance of the controller designed based on the present method is compared and verified.The results illustrate that our present method has stronger robustness and higher control accuracy.