飞行轨迹指令综合跟踪控制器设计

运用多重尺度奇异摄动理论,结合动态逆解耦理论和动态平衡点邻区域优化线性化系统的优化解耦控制律理论,研究了战术任务综合飞行管理系统的综合飞行轨迹指令跟踪控制器系统化设计方法。对F-15飞机,设计了综合飞行轨迹跟踪控制器。数字仿真结果表明,设计的跟踪控制器能够控制飞机精确跟踪不同时标集的飞行指令。     

基于LQR的纵向多自由度变稳控制律设计

飞机进场着陆过程中,速度、迎角和俯仰角速度等多参数的跟踪模拟是一个复杂的多输入输出系统,采用传统的控制方法难以获得满意的控制效果.根据系统控制要求,提出一种利用最优二次型调节器(LQR)的控制方式.首先分析跟踪模拟的结构形式,把模型跟踪问题化为最优二次型状态调节器,确定控制律的基本结构;然后对某型飞机进场着陆阶段特性利用TIFS飞机进行模型跟踪控制律的设计,并结合经典控制理论对系统控制参数进行修正;最后利用舵机在回路的半物理试验台进行仿真.结果表明,所提出的LQR控制方法能够有效地解决多控制回路性能的自动协调,具有良好的动态响应,而且有很高的模型跟踪模拟精度.     

基于自抗扰控制的机翼受损飞机姿态控制器设计

飞机结构受损会导致飞机质量、重心和气动特性发生突变、对称性破坏以及较强的运动耦合,严重影响飞行安全.以机翼受损飞机为研究对象,采用质量微元法建立重心偏移飞机的动力学模型,分析其动态特性,并设计了基于自抗扰控制的姿态控制器.仿真结果表明,自抗扰控制器表现出良好的控制性能,针对突然受损情况设计的控制器具有较强的鲁棒性,能实时补偿结构受损引起的干扰力矩,快速准确地跟踪控制指令.     

涡流控制在小展弦比飞翼布局飞机上的应用研究

全隐身布局飞行器采用无尾飞翼布局,此种布局具有很多优点,但是在动态特性上存在一些新的问题,造成了飞行器稳定和操纵的困难.通过对小展弦比飞翼布局飞机进行涡流控制,可以产生较大的控制力矩,从而对飞机进行纵向和航向的控制,改善飞机的操纵效率.控制力矩是非线性变化的,其大小与飞机飞行状态(迎角、速度等)以及喷流的状态(喷流速度、喷孔位置、喷流方向等)有关.将喷流产生的控制力矩应用于飞机的控制,通过对增加喷流后飞机静操纵特性的分析,表明其改善了飞机静操纵特性和隐身性能,具有较好的实用性.     

带有执行器约束条件的模糊自适应反步控制

针对高超声速飞行器在飞行控制过程中存在外界干扰以及考虑执行器的动态特性等问题,结合飞行器纵向模型的特点,考虑舵的动态特性,分别设计了基于动态逆的速度控制器和基于指令滤波器采用Backstepping控制方法的高度控制器。模糊自适应系统用来在线辨识飞行器模型由于气动参数的变化而引起的不确定性。运用Lyapunov理论分析闭环系统的稳定性,证明了包含跟踪误差在内的所有信号满足半全局一致稳定。最后通过仿真对控制器的控制效果进行验证,得到了较为满意的控制效果。     

LQR与Fuzzy控制在飞机俯仰运动中的对比仿真

目的为解决传统PID控制控制参数固定、控制响应速度慢、超调量大,难以完成飞机自动驾驶仪俯仰系统控制的问题;方法分别设计LQR最优控制器和模糊控制器,并建立对应的Matlab控制模型进行仿真研究;结果阶跃响应仿真实验结果表明,飞机俯仰系统LQR控制器与模糊控制器比飞机俯仰系统PID控制器更好地实现对飞机俯仰角的控制,具有响应快速,超调小,误差小的优点;飞机俯仰系统LQR控制器比模糊控制器响应更快,跟踪性能更好;结论飞机俯仰系统模糊控制器在抗干扰鲁棒性、跟踪性能和稳态性能指标综合考虑上优于LQR控制器,更适用于实际的飞行环境。     

非对称结构损伤飞机鲁棒容损控制器设计

当飞机发生非对称结构损伤时,飞机的质量、重心位置和气动特性都会发生突变,飞机机体的对称性遭到破坏,致使飞机的横纵向间运动产生强烈的耦合。针对飞机发生非对称结构损伤时导致的飞行控制问题,建立了非对称结构损伤飞机的损伤模型,并基于一种新型鲁棒容损控制策略,采用非线性扩张状态观测器和非线性动态逆相结合的方法,对飞机的姿态控制器进行了设计,兼顾了飞机系统的性能和对损伤的鲁棒性。最后,基于NASA的通用运输机模型,对所设计控制器的控制效果进行了仿真验证。仿真结果表明,设计的姿态控制器有效地抑制了非对称结构损伤给飞机控制系统带来的不确定性和扰动,具有较好的控制性能。     

基于Kalman滤波的变体飞行器T-S模糊控制

针对变体飞行器的跟踪控制问题,提出了一种基于Kalman滤波的T-S模糊控制方法。考虑飞行器系统状态不可测,引入惯导数据作为辅助信息,利用Kalman滤波算法融合飞控信息与惯导信息实现状态估计。由于变体飞行器在不同变形结构下气动特性变化较大,为便于控制器设计,采用小扰动线性化方法得到飞行器在不同平衡点处的局部线性模型,并通过状态反馈方法设计局部控制器,局部线性模型和局部控制器通过模糊集和模糊规则聚合成一个连续光滑的全局T-S模糊模型和T-S模糊控制器。通过综合Kalman滤波器与T-S模糊控制器得到一个基于Kalman滤波的T-S模糊控制器。仿真结果表明,该控制器在变形过程中能够实现状态估计,保证飞机的跟踪性能。     

改进ADRC及其在飞行增稳控制中的应用

非线性自抗扰控制器(ADRC)具有极强的鲁棒性和优异的控制性能,但控制器参数设计较为繁琐。引入了新的非线性函数,简化了控制器的参数设计,且非线性扩张状态观测器(ESO)在原点处具有渐进稳定性。设计了基于模型跟踪的一阶ADRC飞机纵向增稳控制器。仿真结果表明,在大飞行包线内飞机的动态特性发生了很大变化,不改变ADRC参数而只进行跟踪模型动压调参,飞行控制系统均满足一级品质要求,表现了极强的鲁棒性能。     

高超声速飞行器控制一体化设计

针对高超声速飞行器模型具有气动/推进/控制强耦合和强非线性的特点,提出了一套面向控制的一体化设计方案.在概念设计阶段,以飞行器控制性能为优化目标,对气动、推进、结构、控制等参数进行一体化综合优选来设计飞行器.考虑模型生成的保真度要求和计算效率,建立高超声速飞行器参数化的数学模型,并设计LQR(linear quadratic regulator)跟踪控制器.通过不断调整飞行器构型,比较控制相关的动静态特性和控制效果,面向控制需求选择新的飞行器构型,并进行了仿真验证.仿真结果表明:控制一体化设计方法应用于高超声速飞行器概念设计初期可以扩大飞行包线,有效增大失速裕度,减小油耗,提高操纵面效能,降低发动机壅塞制约,对高超声速飞行器的设计效率和控制性能的提高起到了指导性的作用.      

Fault tolerant control system design with explicit consideration of performance degradation

A new approach is proposed for active fault tolerant control systems (FTCS), which allows one to explicitly incorporate allowable system performance degradation in the event of partial actuator fault in the design process. The method is based on model-following and command input management techniques. The degradation in dynamic performance is accounted for through a degraded reference model. A novel method for,selecting such a model is also presented. The degradation in steady-state performance is dealt with using a command input adjustment technique. When a fault is detected by the fault detection and diagnosis (FDD) scheme, the reconfigurable controller is designed automatically using an eigenstructure assignment algorithm in an explicit model-following framework so that the dynamics of the closed-loop system follow that of the degraded reference model. In the mean time, the command input is also adjusted automatically to prevent the actuators from saturation. The proposed method has been evaluated using the lateral dynamics of an F-8 aircraft against actuator faults subject to constraints on the magnitude of actuator inputs. Very encouraging results have been obtained.     

基于稳定逆的飞机纵向自动着陆控制律设计

针对着陆过程中飞机对象的非最小相位特性,设计了基于稳定逆的飞机纵向自动着陆控制律.通过求解系统内部动态的有界解,设计了系统对于期望轨迹的稳定逆;基于相对阶的概念设计了光滑、连续的进场着陆期望轨迹.由稳定逆产生期望控制输人和状态轨迹,反馈控制器克服飞机参数不确定性及外界干扰.仿真结果表明,所设计的自动着陆控制律具有精确跟...     

Integrated fault estimation and fault-tolerant control for a flexible regional aircraft

The article focuses on the design and application of an active reconfigurable controller that mitigates the effects of gust load and actuator faults on a flexible aircraft. A novel integrated adaptive output feedback scheme is investigated to address the actuator faults. The real-time fault values provided by the fault estimation module are considered in the reconfigurable control law to improve the fault-tolerant capability. The estimate values of faults and control gains are calculated by anal...     

Quantitative speed control for SRM drive using fuzzy adapted inverse model

Quantitative and robust speed control for a switched reluctance motor (SRM) drive is considered to be rather difficult and challenging owing to its highly nonlinear dynamic behavior. A speed control scheme having two-degree-of-freedom (2DOF) structure is developed here to improve the speed dynamic response of an SRM drive. In the proposed control scheme, the feedback controller is quantitatively designed to meet the desired regulation control requirements first. Then a reference model and a command feedforward controller based on an inverse plant model are employed to yield the desired tracking response at nominal case. As the variations of system parameters and operating conditions occur, the prescribed control specifications may not be satisfied any more. To improve this, the inverse model is adaptively tuned by a fuzzy control scheme so that the model-following tracking error is significantly reduced. In addition, a simple disturbance cancellation robust controller is added to improve the tracking and regulation control performances further.     

推力协同的大柔性飞行器纵向姿态控制

为了研究大柔性飞行器飞行/结构耦合动力学特性,提出了改进的面向控制的大柔性飞行器多体模型,开展了大柔性飞行器纵向动力学耦合特性分析与推力协同下纵向姿态控制律设计。采用二面角动态近似描述大柔性飞行器结构动力学特征,并推导了纵向耦合动力学模型。根据改进模型在配平点处的线性化模型,分析了飞行/结构耦合系统的纵向稳定性与结构变形量之间的关系。针对大柔性飞行器姿态稳定与跟踪,设计了纵向姿态控制器。与常规飞行器相比,大柔性飞行器飞行过程中会发生大变形,当载荷较大时,配平构型近似“U”形,此时纵向动力学具有长周期不稳定的特征。分析结果表明:大柔性飞行器各模态之间的耦合程度随着变形的增大而增大。此外,纵向姿态控制需要升降舵与推力协同控制速度和俯仰角并且考虑结构动力学的影响,否则飞行/结构的耦合作用会导致姿态跟踪误差衰减缓慢甚至发散。      

模糊自适应过失速飞行控制

研究了带推力矢量飞机过失速非线性飞机控制问题。根据奇异摄动理论将受控变量分为快变量和慢变量，然后分别对内环和外环进行设计，外环利用滑动面控制进行设计，内环利用模糊逻辑系统的万能特性来抵消近似非线性动态逆所带来的误差，根据李亚谱诺夫稳定性理论了模糊系统权值的自适应调整规律，从而保证闭环系统的稳定性。数字仿真结果表明：在存在较大的模型不确定性以及飞机动力学对状态和控制输入均为非线性的情况下，该控制方案能对指令进行良好的跟踪。     

Induction motor servo drive with adaptive rotor time-constantestimation

An indirect filed-oriented induction motor (IM) position servo drive with adaptive rotor time-constant estimation and an on-line trained neural network controller is presented. First, the rotor time-constant is estimated real-time on the basis of the model reference adaptive system (MRAS) theory. Next, a linear model-following controller (LMFC) is designed according to the estimated plant model to allow the state responses of the plant to follow the reference model. Then an augmented signal generated from the proposed neural network controller, whose connective weights are trained on-line according to the model-following error of the states, is added to the LMFC system to preserve a favorable model-following characteristic under various operating conditions     

基于过失速机动动力学的控制方法

为设计过失速大机动飞行控制律，按飞行的逆稳态模型考虑非线性因素的影响，同时对于陀螺、 惯性耦合效应及重力影响进行补偿，并直接根据飞行品质要求按隐式模型跟踪法设计反馈控制器。初步设计实例证明，这种方法适用于过失速机动动力学特点，能够获得发挥飞机操纵潜能、较好地控制飞机实现过失速机动、具有满意飞行品质的控制解，并且控制结构易于工程实现。算例还表明，即使不加装先进的过失速操纵装置，通过对飞行控制律的改进可以进一步发挥飞机本身的气动潜力，使之在一定的过失速迎角不正常工作。     

Variable structure and adaptive control of a synchronous generator

Damping of synchronous generator oscillations has been investigated by using three types of controllers, i.e., the PI (proportional-integral) controller, the model reference adaptive controller (MRAC) and the variable-structure model-following controller (VSMFC). It was found that the PI controller fails to accommodate itself to the situation where there is a significant change in generator loading conditions. The MRAC greatly improves the dynamic responses of the generator over a wide range of operating conditions by minimizing the error in the responses obtained from the plant with a specified reference model. The damping of the generator is further improved by the VSMFC, which reduces the sensitivity of generator responses relative to plant parameter variations by providing sliding-mode operations     

A homogenization-planning-tracking method to solve cooperative autonomous motion control for heterogeneous carrier dispatch systems

Taxiing aircraft and towed aircraft with drawbar are two typical dispatch modes on the flight deck of aircraft carriers. In this paper, a novel hierarchical solution strategy, named as the Homogenization-Planning-Tracking (HPT) method, to solve cooperative autonomous motion control for heterogeneous carrier dispatch systems is developed. In the homogenization layer, any towed aircraft system involved in the sortie task is abstracted into a virtual taxiing aircraft. This layer transforms the heterogeneous systems into a homogeneous configuration. Then in the planning layer, a centralized optimal control problem is formulated for the homogeneous system. Compared with conducting the path planning directly with the original heterogeneous system, the homogenization layer contributes to reduce the dimension and nonlinearity of the formulated optimal control problem in the planning layer and consequently improves the robustness and efficiency of the solution process. Finally, in the tracking layer, a receding horizon controller is developed to track the reference trajectory obtained in the planning layer. To improve the tracking performance, multi-objective optimization techniques are implemented offline in advance to determine optimal weight parameters used in the tracking layer. Simulations demonstrate that smooth and collision-free cooperative trajectory can be generated efficiently in the planning phase. And robust trajectory tracking can be realized in the presence of external disturbances in the tracking phase. The developed HPT method provides a promising solution to the autonomous deck dispatch for unmanned carrier aircraft in the future.