Robust fault-tolerant control for wing flutter under actuator failure

Many control laws, such as optimal controller and classical controller, have seen their applications to suppressing the aeroelastic vibrations of the aeroelastic system. However, those control laws may not work effectively if the aeroelastic system involves actuator faults. In the current study for wing flutter of reentry vehicle, the effect of actuator faults on wing flutter system is rarely considered and few of the fault-tolerant control problems are taken into account. In this paper, we use the radial basis function neural network and the finite-time H_∞ adaptive fault-tolerant control technique to deal with the flutter problem of wings, which is affected by actuator faults, actuator saturation, parameter uncertainties and external disturbances. The theory of this article includes the modeling of wing flutter and fault-tolerant controller design. The stability of the finite-time adaptive fault-tolerant controller is theoretically proved. Simulation results indicate that the designed fault-tolerant flutter controller can effectively deal with the faults in the flutter system and can promptly suppress the wing flutter as well.     

Identification of reduced-order model for an aeroelastic system from flutter test data

Recently, flutter active control using linear parameter varying (LPV) framework has attracted a lot of attention. LPV control synthesis usually generates controllers that are at least of the same order as the aeroelastic models. Therefore, the reduced-order model is required by syn-thesis for avoidance of large computation cost and high-order controller. This paper proposes a new procedure for generation of accurate reduced-order linear time-invariant (LTI) models by using sys-tem identification from flutter testing data. The proposed approach is in two steps. The well-known poly-reference least squares complex frequency (p-LSCF) algorithm is firstly employed for modal parameter identification from frequency response measurement. After parameter identification, the dominant physical modes are determined by clear stabilization diagrams and clustering tech-nique. In the second step, with prior knowledge of physical poles, the improved frequency-domain maximum likelihood (ML) estimator is presented for building accurate reduced-order model. Before ML estimation, an improved subspace identification considering the poles constraint is also proposed for initializing the iterative procedure. Finally, the performance of the proposed procedure is validated by real flight flutter test data.     

Robust fault-tolerant attitude control for satellite with multiple uncertainties and actuator faults

In this paper, the satellite attitude control system subject to parametric perturbations, external disturbances, time-varying input delays, actuator faults and saturation is studied. In order to make the controller architecture simple and practical, the closed-loop system is transformed into a disturbance-free nominal system and an equivalent disturbance firstly. The equivalent disturbance represents all above uncertainties and actuator failures of the original system. Then a robust controller is proposed in a simple composition consisting of a nominal controller and a robust compensator. The nominal controller is designed for the transformed nominal system. The robust compensator is developed from a second-order filter to restrict the influence of the equivalent disturbance. Stability analysis indicates that both attitude tracking errors and compensator states can converge into the given neighborhood of the origin in finite time. To verify the effectiveness of the proposed control law, numerical simulations are carried out in different cases. Presented results demonstrate that the high-precision attitude tracking control can be achieved by the proposed fault-tolerant control law. Furthermore, multiple system performances including the control accuracy and energy consumption index are fully discussed under a series of compensator parameters.     

Robust aeroelastic control of flapped wing systems using a sliding mode observer

The performance of a robust control strategy applied to a three-degrees-of-freedom (3-DOF) flap-wing aeroelastic system impacted by a pressure pulse in the subcritical flight speed regime is investigated. The goal of its implementation is to suppress flutter instability and reduce the vibrational level in the subcritical flight speed range. To this end, the linear quadratic Gaussian (LQG) control methodology in conjunction with a sliding mode observer (SMO) are used. Comparisons with the counterpart results obtained via implementation of LQG controller with conventional Kalman filter (KF) are also provided and pertinent conclusions are outlined.     

Active flutter suppression of a multiple-actuated-wing wind tunnel model

In this study, a multi-input/multi-output（MIMO） time-delay feedback controller is designed to actively suppress the flutter instability of a multiple-actuated-wing（MAW） wind tunnel model in the low subsonic flow regime. The unsteady aerodynamic forces of the MAW model are computed based on the doublet-lattice method（DLM）. As the first attempt, the conventional linear quadratic-Gaussian（LQG） controller is designed to actively suppress the flutter of the MAW model. However, because of the time delay in the control loop, the wind tunnel tests illustrate that the LQG-controlled MAW model has no guaranteed stability margins. To compensate the time delay, hence, a time-delay filter, approximated via the first-order Pade approximation, is added to the LQG controller. Based on the time-delay feedback controller, a new digital control system is constructed by using a fixed-point and embedded digital signal processor（DSP） of high performance. Then, a number of wind tunnel tests are implemented based on the digital control system.The experimental results show that the present time-delay feedback controller can expand the flutter boundary of the MAW model and suppress the flutter instability of the open-loop aeroelastic system effectively.     

Robust LPV modeling and control of aircraft flying through wind disturbance

This article deals with the disturbance attenuation control of aircraft flying through wind shear via Linear Parameter Varying(LPV) modeling and control method. A Flight Dynamics Model(FDM) with wind shear effects considered was established in wind coordinate system. An LPV FDM was built up based on function substitution whose decomposing function was optimized by Genetic Algorithm(GA). The wind disturbance was explicitly included in the system matrix of LPV FDM. Taking wind disturbance as external uncertainties, robust LPV control method with the LPV FDM was put forward. Based on ride quality and flight safety requirements in wind disturbance, longitudinal and lateral output feedback robust LPV controllers were designed respectively,in which the scheduling flight states in LPV model were actually dependent parameters in LPV control. The results indicate that LPV FDM can reflect the instantaneous dynamics of nonlinear system especially at the boundary of aerodynamic envelope. Furthermore, the LPV FDM also can approach nonlinear FDM's response in wind disturbance special flight. Compared with a parameter-invariant LQR controller designed with a small-disturbance FDM, the LPV controllers show preferable robustness and stability for disturbance attenuation.     

基于多项式平方和规划的涡扇发动机切换控制

针对航空发动机动态特性随飞行状态和飞行条件的变化范围大,单一控制器很难保证全包线内控制效果的问题,在航空发动机LPV模型基础上提出1种平滑过渡的切换控制方法。该方法根据发动机进口条件对飞行包线区域进行划分,按照多项式平方和规划理论以及平滑过渡切换律求取各子区域的Lyapunov函数及LPV控制器。在某型涡扇发动机上进行仿真验证,结果表明:所设计的切换LPV控制器在不同高度、马赫数和转速条件下均具有良好的性能和控制精度,可以实现平滑切换。     

Match Point Solution for Robust Flutter Analysis in Constant-Mach Prediction

This paper presents a method for robust flutter computation which uses flight altitude as the perturbation variable in order to obtain a match point solution. The air density and sound speed of standard atmosphere model are approximated as the polynomial function of altitude, such that the flight altitude becomes the single perturbation variable that describes the aeroelastic system. The uncertainties of generalized stiffness and damping are considered and the uncertain aeroelastic system can be formulated as linear fractional transformation （LFT） representation which is suitable for/.t analysis framework. Finally, the match point solutions of robust flutter margins can be computed with structured singular value （SSV） theory. The robust flutter analysis method provided in this paper is suitable for constant-Mach flight flutter test and provides valuable reference for flight envelope expansion.     

西陵长江大桥全桥气动弹性模型风洞试验研究

介绍了西陵长江大桥成桥状态和施工状态全桥气动弹性模型在均匀平滑流和湍流两种流场中的风洞试验，评估了西陵长江大桥颤振、抖振和涡激振动等风振特性，给出了颤振风速和抖振振幅。可供研究其它大跨度桥梁的风振特性参考。     

VTOL Aircraft Control Output Tracking Sensitivity Design

A method is presented for reducing trajectory sensitivity and achieving robust asymptotic tracking for linear feedback systems when there are parameter perturbations and disturbance inputs. The controller consists of a servocompensator containing the modes of the reference signals and disturbance inputs, a stabilizing feedback loop, and a feedforward compensator. Application of the method to the design of a vertical takeoff and landing (VTOL) aircraft flight control system is discussed. The use of a precompensator allows performance maneuvers such that the aircraft tracks desired trajectories and the feedforward and feedback signals aid in reducing the trajectory sensitivity to variations of parameters due to change in airspeed and to wind gust. Simulation results are presented to show the robust tracking, disturbance rejection, and sensitivity reduction capabilities of the flight control system.     

压气机风扇叶片颤振预测和抑制的工程研究

通过能量法对某压气机风扇试验件叶片原型方案进行气弹稳定性预测,计算出该方案的颤振边界点.对其中气弹不稳定叶片的几何造型进行修改以提高气弹稳定性.通过原型和改型方案的叶片几何造型、气动性能、振动特性以及气弹稳定性的对比,从气动角度分析了压气机风扇叶片颤振的机理.获得了工程上抑制压气机风扇叶片颤振的有效手段,如增大叶片弦长、降低展弦比,增大叶片厚度、增强叶片刚性,减小攻角、改善流动状况.      

Non-fragile switching tracking control for a flexible air-breathing hypersonic vehicle based on polytopic LPV model

This article proposes a linear parameter varying (LPV) switching tracking control scheme for a flexible air-breathing hypersonic vehicle (FAHV). First, a polytopic LPV model is constructed to represent the complex nonlinear longitudinal model of the FAHV by using Jacobian linearization and tensor-product (T-P) model transformation approach. Second, for less conservative controller design purpose, the flight envelope is divided into four sub-regions and a non-fragile LPV controller is designed for each parameter sub-region. These non-fragile LPV controllers are then switched in order to guarantee the closed-loop FAHV system to be asymptotically stable and satisfy a specified performance criterion. The desired non-fragile LPV switching controller is found by solving a convex constraint problem which can be efficiently solved using available linear matrix inequality (LMI) techniques, and robust stability analysis of the closed-loop FAHV system is verified based on multiple Lypapunov functions (MLFs). Finally, numerical simulations have demonstrated the effectiveness of the proposed approach.     

Non-affine parameter dependent LPV model and LMI based adaptive control for turbofan engines

The precise control of turbofan engines thrust is an important guarantee for an aircraft to obtain good flight performance and a challenge due to complex nonlinear dynamics of engines and time-varying parameters. The main difficulties lie in the following two aspects. Firstly, it is hard to obtain an accurate kinetic model for the turbofan engine. Secondly, some model parameters often change in different flight conditions and states and even fluctuate sharply in some cases. These variable parameters bring huge challenge for the turbofan engine control. To solve the turbofan engine control problem, this paper presents a non-affine parameter-dependent Linear Parameter Varying(LPV) model-based adaptive control approach. In this approach, polynomial-based LPV modeling method is firstly employed to obtain the basis matrices, and then the Radial Basis Function Neural Networks(RBFNN) is introduced for the online estimation of the non-affine model parameters to improve the simulation performance. LPV model-based Linear Matrix Inequality(LMI) control method is applied to derive the control law. A robust control term is introduced to fix the estimation error of the nonlinear time-varying model parameters for better control performance. Finally, the Lyapunov stability analysis is performed to ensure the asymptotical convergence of the closed loop system. The simulation results show that the states of the engine can change smoothly and the thrust of the engine can accurately follow the desired trajectory, indicating that the proposed control approach is effective. The contribution of this work lies in the combination of linear system control and nonlinear system control methods to design an effective controller for the turbofan engine and to provide a new way for turbofan engine control research.     

Trajectory tracking control of a VTOL unmanned aerial vehicle using offset-free tracking MPC

Designing a stable and robust flight control system for an Unmanned Aerial Vehicle (UAV) is an arduous task. This paper addresses the trajectory tracking control problem of a Ducted Fan UAV (DFUAV) using offset-free Model Predictive Control (MPC) technique in the presence of various uncertainties and external disturbances. The designed strategy aims to ensure adequate flight robustness and stability while overcoming the effects of time delays, parametric uncertainties, and disturbances. The six degrees of freedom DFUAV model is divided into three flight modes based on its airspeed, namely the hover, transition, and cruise mode. The Dryden wind turbulence is applied to the DFUAV in the linear and angular velocity component. Moreover, different uncertainties such as parametric, time delays in state and input, are introduced in translational and rotational components. From the previous work, the Linear Quadratic Tracker with Integrator (LQTI) is used for comparison to corroborate the performance of the designed controller. Simulations are computed to investigate the control performance for the aforementioned modes and different flight phases including the autonomous flight to validate the performance of the designed strategy. Finally, discussions are provided to demonstrate the effectiveness of the given methodology.     

Adaptive aeroelastic vibration suppression of a supersonic airfoil with flap

This paper concerns the flutter, post-flutter and adaptive control of a non-linear 2-D wing-flap system operating in supersonic/hypersonic flight speed regimes. An output feedback control law is implemented and its performance toward suppressing flutter and limit cycle oscillations (LCOs) as well as reducing the vibrational level in the subcritical flight speed range is demonstrated. This control law is applicable to minimum phase systems and we provide conditions for stability of the zero dynamics. The control objective is to design a control strategy to stabilize the pitch angle while adaptively compensating for uncertainties in all the aeroelastic model parameters. It is shown that all the states of the closed-loop system are asymptotically stable.     

基于Measurement Studio的民机颤振试飞数据实时监控分析系统设计与研究

颤振试飞是风险极高、多学科交叉的复杂试飞科目,其实时监控及分析显得极为重要。以某型国产民机颤振试飞为背景,基于Measurement Studio平台,设计开发了颤振试飞数据实时监控分析系统。系统集成了半带宽法、快速傅里叶变换、小波转换等算法,实现了颤振数据的时频域分析、阻尼计算,并以文本格式在实时状态下记录了颤振数据,同时以多线程和DataBinding模型完成了分析结果的实时显示,为国产民机的安全试飞提供了技术保障。     

基于LESO状态反馈的无人机速度控制

无人机速度回路的控制受外界环境、构型变换等不确定性干扰因素的影响较大,采用基于线性扩张状态观测器（LESO）的自抗扰控制方法能准确估计并补偿不确定性干扰,在观测器的基础上加入状态反馈和指令前馈,能获得良好的稳态、动态品质。性能分析与仿真结果表明,基于LESO状态反馈的无人机速度控制方法具有良好的干扰抑制能力,能够实现对控制指令的精确跟踪。     

Direct thrust control for multivariable turbofan engine based on affine linear parameter-varying approach

A novel turbofan Direct Thrust Control(DTC) architecture based on Linear ParameterVarying(LPV) approach for a two-spool turbofan engine thrust control is proposed in this paper.Instead of transforming thrust command to shaft speed command and pressure ratio command, the thrust will be directly controlled by an optimal controller with two control variables. LPV model of the engine is established for the designing of thrust estimator and controller. A robust LPV H∞filter is introduced to estimate ...     

基于本征方程的柔性机翼非线性颤振分析

柔性机翼在气动载荷作用下常常会产生较大的变形,颤振特性会随之发生变化,针对此问题线性理论常常难以进行合理的预测。以几何精确本征梁模型建立了机翼的运动方程,耦合ONERA-EDlin非线性气动模型,建立了柔性机翼的非线性气动弹性分析模型。利用Newton-Raphson和Backward-Differentiation-Formula(BDF)分别求解机翼的静态变形和动态响应,基于机翼平衡位置附近的线性化方程来判断系统的稳定性,进而确定颤振临界速度。通过算例验证了模型的准确性,并分析了不同刚度、后掠角、机翼安装角等参数对颤振速度的影响。     

Time-varying linear control for tiltrotor aircraft

Tiltrotor aircraft have three flight modes: helicopter mode, airplane mode, and transition mode. A tiltrotor has characteristics of highly nonlinear, time-varying flight dynamics and inertial/control couplings in its transition mode. It can transit from the helicopter mode to the airplane mode by tilting its nacelles, and an effective controller is crucial to accomplish tilting transition missions. Longitudinal dynamic characteristics of the tiltrotor are described by a nonlinear Lagrange-form model, which takes into account inertial/control couplings and aerodynamic interferences. Reference commands for airspeed velocity and attitude in the transition mode are calculated dynamically by visiting a command library which is founded in advance by analyzing the flight envelope of the tiltrotor. A Time-Varying Linear (TVL) model is obtained using a Taylor-expansion based online linearization technique from the nonlinear model. Subsequently, based on an optimal control concept, an online optimization based control method with input constraints considered is proposed. To validate the proposed control method, three typical tilting transition missions are simulated using the nonlinear model of XV-15 tiltrotor aircraft. Simulation results show that the controller can be used to control the tiltrotor throughout its operating envelop which includes a transition flight, and can also deal with vertical gust disturbances.