基于可控度的操纵面故障重构控制分配方法
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摘要
针对多操纵面故障时有效控制能力未知、指令分配不精准的问题,基于可控度提出了一种操纵面故障重构控制分配方法。综合操纵面舵偏物理偏差和虚拟控制指令跟踪误差,建立了可用有效集求解的多操纵面加权最小二乘控制分配模型。考虑到多操纵面系统输入受限且非对称,围绕有效控制能力指标设计并计算故障飞机的可控度,以修正控制分配权系数实现精确故障重构。结合某多操纵面飞机进行了仿真,验证了方法的有效性。
To resolve the unknown available control authority and inaccurate command allocation for fault effectors,a fault reconfiguration control allocation method is presented for the over-actuated aircraft based on controllability degree. Synthesizing physical deviation of control surface and tracking error of virtual control command,the weight least squares control allocation model resolving with active set is built. On the basis of over-actuated system with asymmetrical constraint the controllability degree of the fault plane is designed and calculated using available control authority index. The accurate fault reconfiguration is completed by correcting control allocation weight coefficients with controllability degree. The simulation results of a multiple effectors fighter model show the effectiveness of the proposed strategy.
To resolve the unknown available control authority and inaccurate command allocation for fault effectors,a fault reconfiguration control allocation method is presented for the over-actuated aircraft based on controllability degree. Synthesizing physical deviation of control surface and tracking error of virtual control command,the weight least squares control allocation model resolving with active set is built. On the basis of over-actuated system with asymmetrical constraint the controllability degree of the fault plane is designed and calculated using available control authority index. The accurate fault reconfiguration is completed by correcting control allocation weight coefficients with controllability degree. The simulation results of a multiple effectors fighter model show the effectiveness of the proposed strategy.
引文
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[11]杜光勋,全权.输入受限系统的可控度及其在飞行控制中的应用[J].系统科学与数学,2014,34(12):1578-1594.
[12] Du Guangxun,Quan Quan,Yang Binxian,et al.Controllability analysis for multirotor helicopter rotor degradation and failure[J].Journal of Guidance,Control,and Dynamics,2015,38(5):978-985.
[13]陈勇,董新民,薛建平,等.赋权控制分配策略的权系数多目标优化设计[J].控制与决策,2013,28(7):991-996.
[14]陈勇,易坚,董新民,等.多操纵面飞机变参数动态控制分配策略[J].控制与决策,2016,31(6):1015-1020.
[15] Harkegard O,Glad S T.Resolving actuator redundancy-optimal control vs control allocation[J].Automatica,2005,41(1):137-144.
[2] Kishore C A W,Dasgupta S,Ray G,et al. Control allocation for an over-actuated satellite launch vehicle[J]. Aerospace Science and Technology,2013,28(1):56-71.
[3] Hamayun M T,Edwards C,Alwi H.A fault tolerant control allocation scheme with output integral sliding modes[J].Automatica,2013,49(6):1830-1837.
[4] Bordignon K,Bessolo J.Control allocation for the X-35B[R].AIAA-2002-6020,2002.
[5] Teel A,Buffington J. Anti-windup for an F-16’s daisy chain control allocator[R].AIAA-97-3606,1997.
[6] Durham W C.Computationally efficient control allocation[R].AIAA-99-4214,1999.
[7] Harkegard O. Efficient active set algorithms for solving constrained least squares problems in aircraft control allocation[J]. IEEE Conference on Decision and Control,2003,2(2):1295-1300.
[8] Mueller P C,Weber H I.Analysis and optimization of certain qualities of controllability and observability for linear dynamical systems[J]. Automatica,1972,8(3):237-246.
[9] Hamdan A M A,Nayfeh A H.Measures of modal controllability and observability for first-and second-order linear systems[J].Journal of Guidance,Control,and Dynamics,1989,12(3):421-428.
[10] Viswanathan C N,Longman R W.The determination of the degree of controllability for dynamic systems with repeated eigenvalues[C]∥Proceedings of the NCKU/AAS Symposium on Engineering Science and Mechanics.Taiwan,1981.
[11]杜光勋,全权.输入受限系统的可控度及其在飞行控制中的应用[J].系统科学与数学,2014,34(12):1578-1594.
[12] Du Guangxun,Quan Quan,Yang Binxian,et al.Controllability analysis for multirotor helicopter rotor degradation and failure[J].Journal of Guidance,Control,and Dynamics,2015,38(5):978-985.
[13]陈勇,董新民,薛建平,等.赋权控制分配策略的权系数多目标优化设计[J].控制与决策,2013,28(7):991-996.
[14]陈勇,易坚,董新民,等.多操纵面飞机变参数动态控制分配策略[J].控制与决策,2016,31(6):1015-1020.
[15] Harkegard O,Glad S T.Resolving actuator redundancy-optimal control vs control allocation[J].Automatica,2005,41(1):137-144.