动力学解耦的改进直接力控制

 提出了一种动力学解耦的改进直接力控制技术，通过对传统直接力控制技术的改进，引入翼面气动力闭环控制回路，使空气动力学模型与刚体动力学模型分离，避免了空气动力学模型的不确定性和非线性耦合对控制系统的影响，并针对建模精度较高的刚体动力学模型进行动力学解耦和控制，在此基础上构建了分层递阶控制系统。根据翼面气动力可控特性分析结果，设计了基于广义逆的控制力分配算法，实现了控制力的有效分配，最后进行了仿真校验。仿真结果表明，基于逆动力学的直接力控制系统可以实现飞行器姿态运动和质心运动的解耦控制，并且具有较强的抗扰动能力和鲁棒性，具有良好的工程应用前景。

Dynamics Decoupled Direct Force Control Technology

An improved direct force control technology which decouples dynamics is presented. In the new technology, the closed loop controller of wings’ aerodynamic force is included, so that the model can be divided into the aerodynamics model and the rigid-body dynamics model, and then the influence of the uncertainty and the nonlinear coupling of the aerodynamic model can be avoided. After analyzing the controllability of different aerodynamic forces, an inversed dynamic model and the control allocation algorithm based on the generalized inverse are designed. The control system is established as a hierarchical control system. The results of the mathematic simulations show that the new direct control technology based on the inversed dynamics of the aircraft has a good performance in the aircraft’s altitude and the path decoupling control, and has a good anti-interference capability and robustness, which shows a good anticipation of the engineering use.