基于增益调度与光滑切换的倾转旋翼机最优控制

针对倾转旋翼机转换机动中变动力学特性导致的复杂控制问题，提出基于增益调度（GS）的线性二次最优控制与光滑切换控制结合的综合体系结构，用以实现转换机动过程中的全局最优控制。该控制综合方法，在保证性能指标要求最小的同时，对操纵机构的负荷较低。首先，建立了倾转旋翼机高置信度飞行动力学模型，并应用混合操纵克服操纵冗余问题。其次，设计了基于增益调度的线性二次最优多环控制器，并采用光滑切换控制策略综合2套控制器，实现动态倾转过程的姿态平滑过渡。最后，进行以倾转走廊中间路径为期望轨迹的全模式自主飞行仿真。仿真结果表明:控制系统在转换机动过程中体现出强鲁棒性和较优的系统性能。 

Optimal control of tilt rotor aircraft based on gain scheduling and smooth switching

In view of the complex control problem caused by variable mechanical characteristics in conversion maneuver of tilt rotor aircraft, the control synthesis architecture that combines linear quadratic optimal control based on Gain Scheduling (GS) and smooth switching control is proposed to realize global optimal control in conversion maneuver. This control synthesis method alleviates the load of the operating mechanism while guaranteeing the minimum performance index. First, the high-precision flight dynamics model of tilt rotor aircraft was established, and the control redundancy was overcome by mixed control model. Then, a linear quadratic optimal multi-loop controller based on gain scheduling was designed, and two sets of controllers were synthesized by using smooth switching control strategy to realize the smooth transition of attitude in the conversion maneuver. Finally, the full-modes autonomous flight simulation was carried out, which had the desired trajectory of the middle tilting corridor. The simulation results show that the control system has strong robustness and better system performance in the process of conversion maneuver.