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。     

飞机纵向非线性系统的鲁棒输出跟踪控制器设计

研究了单输入单输出非线性不确定系统的鲁棒输出跟踪控制。在标称系统可输入/输出线性化、不确定性项有界且满足广义匹配条件的情况下,可得到系统的高增益鲁棒输出跟踪控制器。鲁棒控制器仅依赖于设计参数和不确定性的界。将该方法应用于飞机纵向高阶非线性动态的控制器设计,并进行了数字仿真。结果表明了该方法的有效性。     

一种基于模糊神经网络的飞行控制系统设计

文章将模糊逻辑控制与神经网络结合使用,利用神经网络的自学习优势,采用误差反向传播算法,给出PI控制器的比例、积分参数,对模糊逻辑控制器的输出进行进一步调整。仿真结果表明,使系统具有更好的控制效果。     

Robust dynamic output feedback control for switched polytopic systems under asynchronous switching

The robust controller design problem for switched polytopic systems under asynchronous switching is addressed.These systems exist in many aviation applications, such as dynamical systems involving rapid variations.A switched polytopic system is established to describe the highly maneuverable technology vehicle within the full flight envelope and a robust dynamic output feedback control method is designed for the switched polytopic system.Combining the Lyapunov-like function method and the average dwell time method, a sufficient condition is derived for the switched polytopic system with asynchronous switching and data dropout to be globally,uniformly and asymptotically stable in terms of linear matrix inequality.The robust dynamic output feedback controller is then applied to the highly maneuverable technology vehicle to illustrate the effectiveness of the proposed approach.The simulation results show that the angle of attack tracking performance is acceptable over the time history and the control surface responses are all satisfying along the full flight trajectory.     

单输入模糊控制在液位控制系统中的应用

本文提出一种利用复合结构终端滑模面作为输入的单输入模糊控制器设计方法,将这种控制方法应用于液位控制系统,取得了满意的控制效果.单输入模糊控制器规则数比普通模糊控制器大大减少,这样就使得模糊控制器的设计和调节更简单、更方便.同时这种模糊控制器由于具有准滑动模态的性质,体现出较好的鲁棒性和稳定性.通过对水箱的控制实验,结果表明,该方法在实践过程中是切实可行和值得推广的.     

Compound Control for Hydraulic Flight Motion Simulator

The design of a compound control is presented for the servo system of hydraulic flight motion simulator, which suffers from highly nonlinear dynamics, large parameter time-variation and severe load coupling among channels. The compound control is composed of a robust feedback controller and a feedforward compensator. The design aim is to achieve high tracking performance even in the presence of considerable uncertainty, external disturbance and load coupling among channels. Toward this aim the feedback controller for rejecting perturbation and disturbance is designed by using μ synthesis optimization technique and the feedforward compensator for compensating time lag of dynamic system is established based on the basic idea of zero phase error tracking. To validate the proposed control strategy, simulations and experiments are implemented, and show that the resulting system is highly robust against model perturbation and possesses excellent capability of suppressing the load coupling and improving the tracking performance.     

Adaptive Fuzzy Torque Control of Passive Torque Servo Systems Based on Small Gain Theorem and Input-to-state Stability

Passive torque servo system (PTSS) simulates aerodynamic load and exerts the load on actuation system, but PTSS endures position coupling disturbance from active motion of actuation system, and this inherent disturbance is called extra torque. The most important issue for PTSS controller design is how to eliminate the influence of extra torque. Using backstepping technique, adaptive fuzzy torque control (AFTC) algorithm is proposed for PTSS in this paper, which reflects the essential characteristics of PTSS and guarantees transient tracking performance as well as final tracking accuracy. Takagi-Sugeno (T-S) fuzzy logic system is utilized to compensate parametric uncertainties and unstructured uncertainties. The output velocity of actuator identified model is introduced into AFTC aiming to eliminate extra torque. The closed-loop stability is studied using small gain theorem and the control system is proved to be semiglobally uniformly ultimately bounded. The proposed AFTC algorithm is applied to an electric load simulator (ELS), and the comparative experimental results indicate that AFTC controller is effective for PTSS.     

基于滑模控制的航空发动机多变量约束管理

针对航空发动机传统单变量线性控制器min-max切换方法处理约束的不足,提出了单变量滑模控制器替换所有线性控制器的改进策略,并将该方法拓展为新切换逻辑下的多变量滑模控制结构。基于改进的单变量滑模控制器min-max结构,多变量控制策略中加入了多变量滑模主控制器和新的切换逻辑,充分利用发动机的所有控制量,克服了传统方法的保守性,进一步提高发动机约束下的动态性能。对稳态时工作的控制器进行了理论分析,建立了多变量控制器实现精确跟踪的充要条件。仿真结果表明,多变量控制方法在更苛刻的约束条件下能够实现跟踪任务,而且提高了推力跟踪的快速性,调节时间从1.91 s缩短到1.54 s,同时降低了稳态时的油耗。     

Experimental study in adaptive tracking control

The authors describe an experimental study of adaptive pointing and tracking control for flexible spacecraft conducted on a complex ground experiment facility. The algorithm used is based on a multivariable direct model reference adaptive control law. Several experimental validation studies performed using this algorithm for vibration damping and robust regulation are extended by addressing the pointing and tracking problem. As is consistent with an adaptive control framework, the plant is assumed to be poorly known to the extent that only system level knowledge of its dynamics is available. Explicit bounds on the steady-state pointing error are derived as functions of the adaptive controller design parameters. It is shown that good tracking performance can be achieved in an experimental setting by adjusting adaptive controller design weightings according to the guidelines indicated by the analytical expressions for the error     

Fuzzy logic applications to multisensor-multitarget correlation

A consistent tactical picture requires data fusion technology to combine and propagate information received from diverse objects and usually vague situations. The information may be contained in two types of data; numerical data received from sensor measurements, and linguistic data obtained from human operators and domain experts. In real world situations, the numerical data may be noisy, inconsistent, and incomplete, and the linguistic information is imprecise and vague. To deal with these two types of data simultaneously, fuzzy sets and fuzzy logic provide a methodology to obtain an approximate but consistent tactical picture in a timely manner for very complex or ill-defined engineering problems. A functional paradigm for fuzzy data fusion is presented. It consists of four basic elements: (1) fuzzification of crisp elements, (2) fuzzy knowledge base derived from numerical input/output relations and humans, (3) fuzzy inference mechanism based on a class of fuzzy logic, (4) defuzzification of fuzzy outputs into crisp outputs for use by a plant. For real-time practical systems, the on-line determination of a fuzzy membership function from a given set of crisp inputs is vital. To this end, a methodology for estimating an optimal membership function from crisp input data has been implemented. This is based on the possibility/probability consistency principle as proposed by L.A. Zadeh. A relationship between the fuzzy membership function and the confidence level of statistical input data has been developed and it serves as a design parameter for fuzzification. This technique has been applied to a two-dimensional multisensor-multitarget tracking system. Fuzzy system performance evaluations have been presented. With simulated data in the laboratory environment, the simulation has been performed to evaluate the Mission Avionics Sensor Synergism (MASS) Systems. These results show better performance for the data correlation function using the fuzzy logic techniques.     

基于MRP的全局稳定的PID刚体姿态控制

针对刚性航天器姿态控制问题,建立了由修正Rodrigues参数(MRP)表示的混杂姿态模型,并基于此模型设计了一种具有迟滞特性的非线性比例-积分-微分(PID)切换控制器.该控制器包含一个对克里奥利力矩和期望机动力矩的前馈补偿项和一个用于消除轨迹跟踪误差的PID反馈项.通过一个特别的Lyapunov函数分析得到了全局渐...     

100N推力级微小型涡喷发动机数字式电子控制器研究

建立了100N推力级微小型涡喷发动机模型,应用鲁棒控制算法进行了控制器软、硬件系统开发设计;提出了全新的仿真方法,用该方法对控制器进行了仿真,取得了良好的效果。电子控制器不仅具备等转速调节功能,且有足够的逻辑、多种控制监测和保护功能,完全符合多功能FADEC控制的要求。     

高空台飞行环境模拟腔μ综合控制设计

针对航空发动机在高空台(AGTF)试验中高空飞行环境模拟腔(FESV)控制问题以及建模过程中产生的未建模动态不确定性问题,提出了一种μ综合控制结构方案,同时对于截止频率相差近几百倍的温度回路和压力回路的大差异特性,提出了采用同一加权灵敏度函数的处理方法,获得了模拟腔控制的期望效果;采用D K迭代算法设计了μ综合控制器,为解决因系统矩阵不满秩带来的温度、压力同时控制的问题提供了一种设计方法和思路,不同的飞行轨迹仿真验证结果表明:μ综合控制器对于飞行环境模拟腔温度和压力的控制效果一致性良好,动态误差不大于09%,稳态误差不大于05%,因此设计的μ综合控制系统具有伺服跟踪性能和鲁棒性能。      

高精度激光跟踪系统的综合设计

1.前言 激光跟踪系统是航空航天工程中的重要设备之一。要想建造高精度激光跟踪系统,除了提高有关部件的精度之外,系统的综合设计是一个关键步骤。对于这类系统的综合设计,目前都采用全连续或全离散控制方案,而且不考虑对象未建模动态和子系统间的耦合问题。     

机械手的神经网络自适应滑动模控制器设计

 针对多关节机械手的鲁棒跟随控制器设计问题，提出了一种新的机械手神经网络自适应滑动模控制器设计方法，机械手的动力学非线性假设是完全未知的。在提出的控制结构中，高斯径向基函数神经网络用于在线补偿机械手的动力学非线性，参数学习律由稳定性理论得到。给出了系统稳定性和参数收敛性的证明。最后提出方法的可行性通过仿真得到验证。     

弹性飞翼无人机鲁棒姿态控制设计

针对大展弦比飞翼布局无人机的刚体运动与弹性运动耦合动力学模型,提出了一种基于反步法的鲁棒非线性控制方法。该方法考虑了飞翼无人机的非线性因素,将动态面反步控制作为内环控制抵消系统的非线性因素;同时考虑系统实际存在的弹性耦合项、参数不确定项以及外部扰动,将内环反步控制与飞翼无人机模型整体作为新的被控对象,引入最优化理论对新的被控对象设计了外环鲁棒控制器。仿真结果表明,所提出的控制器不仅满足飞翼无人机姿态跟踪性能的要求,且对模型不确定性和气动弹性影响具有鲁棒性。     

Fuzzy adaptive robust control for space robot considering the effect of the gravity

Space robot is assembled and tested in gravity environment, and completes on-orbit service（OOS） in microgravity environment. The kinematic and dynamic characteristic of the robot will change with the variations of gravity in different working condition. Fully considering the change of kinematic and dynamic models caused by the change of gravity environment, a fuzzy adaptive robust control（FARC） strategy which is adaptive to these model variations is put forward for trajectory tracking control of space robot. A fuzzy algorithm is employed to approximate the nonlinear uncertainties in the model, adaptive laws of the parameters are constructed, and the approximation error is compensated by using a robust control algorithm. The stability of the control system is guaranteed based on the Lyapunov theory and the trajectory tracking control simulation is performed. The simulation results are compared with the proportional plus derivative（PD） controller, and the effectiveness to achieve better trajectory tracking performance under different gravity environment without changing the control parameters and the advantage of the proposed controller are verified.     

机动飞行指令跟踪系统的鲁棒动态逆设计

简要介绍了用非线性动态逆解耦方法设计面向机动飞行的指令跟踪系统的过程。为了提高动态逆的鲁棒性,详细介绍了利用μ－分析/综合方法设计鲁棒控制器的方法、步骤、经验和设计结果。仿真表明,所设计的鲁棒动态逆控制器是有效的。     

基于混合区域极点配置的航空发动机全包线鲁棒变参数控制器设计

针对航空发动机全包线多变量鲁棒变增益控制器设计问题,提出了一种基于混合区域极点配置的鲁棒变参数控制方法。利用Jacobian方法建立多调度参数下的发动机仿射线性变参数(Linear parameter varying,LPV)模型,用于描述发动机全包线内的非线性动态特性;针对上述LPV模型,采用仿射参数依赖Lyapunov函数设计具有H∞鲁棒性能的状态反馈控制器,给出了控制系统全局稳定性的证明;并利用混合区域极点配置方法,将闭环系统极点配置到左半平面指定位置,以保证控制系统的动态特性及稳定裕度;进而引入凸多胞技术,将参数依赖线性矩阵不等式(Linear matrix inequality,LMI)方程转化为有限维LMI进行控制器求解,并得到了全局解。针对涡扇发动机的仿真结果表明:存在复杂量测噪声干扰条件下,鲁棒变参数控制器可以实现发动机全包线内控制指令的精确跟踪,系统阶跃响应的调节时间不超过1.5s,系统无超调,对控制期望的稳态跟踪误差在0.02%以内,符合发动机控制系统技术要求。