基于逆动力学和在线参数辨识的飞机姿态控制

传统的综合飞行/火力控制系统的设计使用了PID(Proportion-Integral-Differential)结构的飞行/火力耦合器,具有鲁棒性差、设计工作量大等缺点.提出了一种基于逆动力学和在线参数辨识的方法,用于直接设计综合控制系统中的姿态控制器.其中,对飞机的转动动力学方程,推导得到了其逆特性的解析形式;使用在线参数辨识方法,对飞机的气动特性进行估计并用于舵面分配.以六自由度非线性飞机模型为对象进行了仿真,结果表明所设计的姿态控制系统具有快速性好、通道间解耦效果明显、对气动模型误差的鲁棒性强等优点.本方法也可推广用于其他的飞行器姿态控制系统设计.

Attitude control based on inverse dynamics and online parameter identification

Traditional integrated flight/fire control system uses a proportion-integral-differential(PID) structured flight/fire coupler, which results in lack of robustness and huge design workload. A synthesis method based on inverse dynamics and online parameter identification was developed and was directly used to design the attitude controller in the integrated control system. The inverse dynamics in analytical form was obtained by deducting the dynamic equation of aircraft rotation. The aerodynamic parameters wear estimated through online parameter identification method and were used for actuator deflect allocation. Digital simulation using a six degree-of-freedom nonlinear aircraft model was conducted, which demonstrates rapid response, good decouple performance among axes, and good robustness with respect to aerodynamic model error. The proposed method can be also applied to general aircraft attitude controller design.