基于L_1自适应的超低空空投抗侧风控制律设计

针对超低空空投过程中侧风干扰与装备投放过程相耦合,影响载机飞行安全和空投任务的完成等问题,提出了基于L_1自适应的控制律设计方法。利用最优控制对系统线性部分做状态反馈并确定匹配参考模型,在此基础上,考虑系统的匹配和非匹配不确定性,设计L_1自适应控制器实现姿态保持,结合外环PID侧向轨迹控制器实现对航迹的稳定和保持。仿真结果表明,控制器具有优良的控制性能,对复杂侧风干扰和系统非线性不确定性具有很强的鲁棒性,且在高自适应增益下能有效抑制输入信号高频抖振。

Design of counteracting crosswind control law for ultra-low altitude airdrop based on L1 adaptive control

For the problem that the airdrop of inner equipment coupled with the crosswind affects the flight safety and the airdrop mission, a novel controller based on the L1 adaptive control was designed.State feedback control signals were produced by the optimal control and the matched reference model was determined.On this basis, we transformed the system nonlinearity into the matched and unmatched uncertainty of L1 control system.Combing with the outer loop PID control for lateral deviation, we completed the lateral flight control system.Simulation results show that the controllers have strong robustness and suppress the undesirable high frequency buffet with high adaptive gain.