Attitude tracking control for autogyro based on derivative-free adaptive NDI and dynamic control allocation
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- 英文论文题名：Attitude tracking control for autogyro based on derivative-free adaptive NDI and dynamic control allocation
- 论文作者：Lin Qing
- 英文论文作者：Lin Qing
- 年：2017
- 英文论文关键词：unmanned autogyro ; control-oriented rotor model ; attitude tracking ; derivative-free adaptive ; nonlinear inversion control ; dynamic control allocation
- 会议召开时间：2017-07-26
- 会议录名称：第36届中国控制会议论文集（A）
- 英文会议录名称：Proceedings of the 36th Chinese Control Conference（A）
- 语种：英文
- 分类号：V249;V279
- 学会代码：KZLL
- 会议名称：第36届中国控制会议
- 会议地点：中国辽宁大连
- 主办单位：中国自动化学会控制理论专业委员会
- 学会名称：中国自动化学会控制理论专业委员会
- 页数：6
- 文件大小：410k
- 原文格式：D
- 会议级别：全国
摘要
This paper presents a new attitude tracking control scheme for autogyro.An example unmanned autogyro is built and modeled based on explicit blade element method(EBEM).To tackle the strong coupling and fast time-varying periodic disturbances,a new attitude control scheme is proposed.The scheme employs nonlinear dynamic inversion augmented with derivative-free adaptive neural network to achieve decoupling and fast compensation.To coordinate the aerodynamic control surfaces and non-affine rotor cyclic pitch controls,a rotor-surface control allocator is designed based on dynamic control allocation method.Numerical simulations illustrate the superior performance of the proposed scheme comparing to conventional PID and derivative-based adaptive controllers in the presence of fast time-varying disturbances.
This paper presents a new attitude tracking control scheme for autogyro.An example unmanned autogyro is built and modeled based on explicit blade element method(EBEM).To tackle the strong coupling and fast time-varying periodic disturbances,a new attitude control scheme is proposed.The scheme employs nonlinear dynamic inversion augmented with derivative-free adaptive neural network to achieve decoupling and fast compensation.To coordinate the aerodynamic control surfaces and non-affine rotor cyclic pitch controls,a rotor-surface control allocator is designed based on dynamic control allocation method.Numerical simulations illustrate the superior performance of the proposed scheme comparing to conventional PID and derivative-based adaptive controllers in the presence of fast time-varying disturbances.
This paper presents a new attitude tracking control scheme for autogyro.An example unmanned autogyro is built and modeled based on explicit blade element method(EBEM).To tackle the strong coupling and fast time-varying periodic disturbances,a new attitude control scheme is proposed.The scheme employs nonlinear dynamic inversion augmented with derivative-free adaptive neural network to achieve decoupling and fast compensation.To coordinate the aerodynamic control surfaces and non-affine rotor cyclic pitch controls,a rotor-surface control allocator is designed based on dynamic control allocation method.Numerical simulations illustrate the superior performance of the proposed scheme comparing to conventional PID and derivative-based adaptive controllers in the presence of fast time-varying disturbances.
引文
[1]Leishman JG,Development of the autogiro:a technical perspective,Journal of Aircraft,2004,41(4):765-781.
[2]Houston SS,Thomson DG,The aerodynamics of gyroplanes,West Sussex:Safety Investigation and Data Department,Safety Regulation Group,Civil Aviation Authority;2010,Report No.:CAA Paper 2009/02.
[3]Houston SS,Identification of autogyro longitudinal stability and control characteristics,Journal of Guidance,Control,and Dynamics,1998;21(3):391-399.
[4]Houston SS,Identification of gyroplane lateral/directional stability and control characteristics from flight test,Proceedings of the Institution of Mechanical Engineers,Part G:Journal of Aerospace Engineering,1998;212(4):271-285.
[5]Houston SS,Modeling and analysis of helicopter flight mechanics in autorotation,Journal of aircraft,2003;40(4):675-682.
[6]Thomson DG,Houston SS,Spathopoulos VM,Experiments in autogiro airworthiness for improved handling qualities,Journal of the American Helicopter Society,2005;50(4):295-301.
[7]Bagiev M,Thomson DG,Handling qualities evaluation of an autogiro against the existing rotorcraft criteria,Journal of Aircraft,2009;46(1):168-174.
[8]CarterCopter.org[Internet],Wichita Falls:Carter Aviation Technologies,LLC;[cited 2016 Oct.20],Available from:http://www.cartercopters.com.
[9]Future Aircraft[Internet],Salt Lake City:Groen Aeronautic Corporation;[cited 2016 Oct.20],Available from:http://www.groenaeronautics.com/aircraft/future-aircraft/.
[10]Somov YI,Polyntsev OY,Nonlinear dynamics and control of a wind-milling gyroplane rotor,In:Proceedings of International Conference of Physics and Control,2003 Aug20-22,IEEE,2003,p.151-156.
[11]Lopez CA,Wells VL,Dynamics and stability of an autorotating rotor/wing unmanned aircraft,Journal of guidance,control,and dynamics,2004;27(2):258-270.
[12]Chen M,Research on Flight Control Technologies for Unmanned Gyroplane[dissertation],Nanjing:Nanjing University of Aeronautics and Astronautics;2011.
[13]Lin Q,Cai Z,Wang Y,Design,model and attitude control of a model-scaled gyroplane,In:Proceedings of 2014 IEEE Chinese Guidance,Navigation and Control Conference,2014Aug 8-10,Yantai,China:IEEE;2014,P.1282-1287.
[14]Lin Q,Cai Z,Yan K,Wang Y,Adaptive Attitude Control of Autogyro Augmented with Elevator,Acta Aeronoutica et Astronautica Sinica,2016;(09):2820-2832[in Chinese].
[15]Yucelen T,Calise A J,Derivative-free model reference adaptive control,Journal of Guidance,Control,and Dynamics,2011;34(4):933-950.
[16]Leitner J,Calise A,R,Prasad J V,Analysis of adaptive neural networks for helicopter flight control,Journal of Guidance,Control,and Dynamics,1997;20(5):972-979.
[17]Hrkegard O,Dynamic control allocation using constrained quadratic programming,Journal of Guidance,Control,and Dynamics,2004;27(6):1028-1034.
[2]Houston SS,Thomson DG,The aerodynamics of gyroplanes,West Sussex:Safety Investigation and Data Department,Safety Regulation Group,Civil Aviation Authority;2010,Report No.:CAA Paper 2009/02.
[3]Houston SS,Identification of autogyro longitudinal stability and control characteristics,Journal of Guidance,Control,and Dynamics,1998;21(3):391-399.
[4]Houston SS,Identification of gyroplane lateral/directional stability and control characteristics from flight test,Proceedings of the Institution of Mechanical Engineers,Part G:Journal of Aerospace Engineering,1998;212(4):271-285.
[5]Houston SS,Modeling and analysis of helicopter flight mechanics in autorotation,Journal of aircraft,2003;40(4):675-682.
[6]Thomson DG,Houston SS,Spathopoulos VM,Experiments in autogiro airworthiness for improved handling qualities,Journal of the American Helicopter Society,2005;50(4):295-301.
[7]Bagiev M,Thomson DG,Handling qualities evaluation of an autogiro against the existing rotorcraft criteria,Journal of Aircraft,2009;46(1):168-174.
[8]CarterCopter.org[Internet],Wichita Falls:Carter Aviation Technologies,LLC;[cited 2016 Oct.20],Available from:http://www.cartercopters.com.
[9]Future Aircraft[Internet],Salt Lake City:Groen Aeronautic Corporation;[cited 2016 Oct.20],Available from:http://www.groenaeronautics.com/aircraft/future-aircraft/.
[10]Somov YI,Polyntsev OY,Nonlinear dynamics and control of a wind-milling gyroplane rotor,In:Proceedings of International Conference of Physics and Control,2003 Aug20-22,IEEE,2003,p.151-156.
[11]Lopez CA,Wells VL,Dynamics and stability of an autorotating rotor/wing unmanned aircraft,Journal of guidance,control,and dynamics,2004;27(2):258-270.
[12]Chen M,Research on Flight Control Technologies for Unmanned Gyroplane[dissertation],Nanjing:Nanjing University of Aeronautics and Astronautics;2011.
[13]Lin Q,Cai Z,Wang Y,Design,model and attitude control of a model-scaled gyroplane,In:Proceedings of 2014 IEEE Chinese Guidance,Navigation and Control Conference,2014Aug 8-10,Yantai,China:IEEE;2014,P.1282-1287.
[14]Lin Q,Cai Z,Yan K,Wang Y,Adaptive Attitude Control of Autogyro Augmented with Elevator,Acta Aeronoutica et Astronautica Sinica,2016;(09):2820-2832[in Chinese].
[15]Yucelen T,Calise A J,Derivative-free model reference adaptive control,Journal of Guidance,Control,and Dynamics,2011;34(4):933-950.
[16]Leitner J,Calise A,R,Prasad J V,Analysis of adaptive neural networks for helicopter flight control,Journal of Guidance,Control,and Dynamics,1997;20(5):972-979.
[17]Hrkegard O,Dynamic control allocation using constrained quadratic programming,Journal of Guidance,Control,and Dynamics,2004;27(6):1028-1034.