变体飞行器基础控制问题研究
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摘要
目前,变体飞行器的研究受到了广泛的重视,美欧等国都有各自的相关研究计划;最近几年,我国在变体飞行器方面的研究也开始起步,国家自然科学基金等基金项目专门将其列为资助对象。变体飞行器能够根据飞行环境和任务的变化而连续、光滑与可控地调整外形,以始终保持最优飞行状态,满足大范围多任务飞行的要求。与传统固定布局的飞行器相比,变体飞行器最大的特殊之处在于它具有分布式驱动的变形机构。本文针对变体飞行器的分布式变形机构的控制问题,在基于桁架结构的自适应翼肋的建模与控制、基于智能材料的柔性翼肋的动态形状控制和分布式驱动的变形机翼实验平台的实现等几个方面进行了较深入的研究。
首先,建立了基于桁架结构的自适应翼肋的动力学模型。针对这种结构复杂、耦合约束多、运动幅度大并具有非线性特性的变形机构,采用了两种方法进行建模,即基于矢量力学的方法和基于分析力学的方法;两种建模方法得到了一致的自适应翼肋非线性关联模型。以这个非线性关联模型为基础,采用Takagi-Sugeno(T-S)模糊逼近理论,建立了自适应翼肋的仿射型T-S模糊关联模型。仿真结果表明仿射型T-S模糊关联模型具有较好的逼近效果。
随后,研究了非线性自适应翼肋的鲁棒控制问题。基于T-S模糊理论,设计了自适应翼肋的模糊分散控制器;研究了模糊控制器的偏置项的设计方法,将仿射型T-S模糊模型变换为齐次型形式,以避免产生难于求解的双线性矩阵不等式。为了提高这种分布式驱动的自适应翼肋的协调运动能力,设计了满足鲁棒性能指标的基于耦合节点信息和基于虚拟结构的分布式协调控制器。仿真结果表明所设计的自适应翼肋控制器,都能够在外界扰动作用下,使翼肋的形状收敛到期望翼型;所设计的协调控制律使得翼肋在变形过程中能保持光滑连续的外形。
然后,对压电材料驱动的柔性翼肋的动态形状控制问题展开了研究。用参数化方法拟合翼肋形状,将分布参数模型转化为有限维模型。在此基础上,考虑剩余模态引起的传感信息误差,设计了基于观测器的动态形状控制器和模糊自适应动态形状控制器。仿真结果表明柔性翼肋能够实现动态形状控制,达到期望的形状,并且在变形过程中翼肋振动小。
最后,研制了基于CAN总线的具有9个驱动单元的变形机翼实验平台,设计了多节点采样控制系统软件;建立了这个实验平台的数学模型,考虑实际系统控制输入的饱和约束以及信息链路的动态拓扑结构,设计了基于Consensus算法的分布式协调控制律,并在实验平台上实现了所设计的控制律,进行了实验。仿真和实验结果都表明所设计的控制器能协调各个驱动单元达到期望位置,验证了变形机翼的分布式控制体系结构的可行性。
At present, researches on morphing aircraft have attracted extensive research interests. There are many relative research programs in both America and Europe. Recently, in China, researches on morphing aircraft have also been launched, and many national foundations, such as National Natural Science Foundation of China, start to support this kind of researches. In response to the change of fight environment and missions, a morphing aircraft can change its shape in a continuous, smooth and controlled way, in order to always keep optimal flight status and meet the requirement of enlarging flight envelope and carrying out multi-missions. Compared with traditional fixed-configuration aircraft, the most special part of a morphing aircraft is the shape-change structures with distributed actuators. This dissertation is focused on distributed shape control problems of morphing aircraft, including modeling and control of adaptive ribs with truss structures, dynamic shape control of flexible ribs actuated by smart material, and the realization of a distributively actuated morphing wing experimental platform.
First of all, a dynamic model of adaptive ribs with truss structures is constructed. To model the mechanism with complex structures, a lot of coupling constraints, large stroke and highly nonlinearity, two modeling methods are used: the method based on vector mechanics and the method based on analytical mechanics. Both methods acquire the same nonlinear interconnected model of adaptive ribs. Based on this nonlinear interconnected model, by using T-S fuzzy approximation theory, the affine T-S fuzzy interconnected model of adaptive ribs is presented. Simulation results show that the fuzzy model has good approximation performance.
Next, the robust control of nonlinear adaptive ribs is studied. Based on T-S fuzzy theory, the decentralized fuzzy controller of adaptive ribs is designed. The bias term of fuzzy controller is designed to transform the affine T-S fuzzy model into homogeneous T-S fuzzy model, which avoids bilinear matrix inequalities. To increase the cooperative capacity of distributed-actuated adaptive ribs, two kinds of performance-guaranteed, distributed cooperative control laws are presented, which are based on neighbor information and virtual structure respectively. Simulation results show that by using the presented controllers, the rib can achieve desired airfoils under external disturbances, and during the control process the rib shape is kept smooth and continuous under the control of cooperative control laws.
The next, the dynamic shape control problem of the flexible rib actuated by piezoelectric materials is studied. The airfoil is parameterized, and the distributed parameter model is transformed into a finite-dimensional model. Then, considering the sensor information error caused by residual modes, the observer-based dynamic shape controller and the fuzzy adaptive dynamic shape controller are designed. Simulation results show that the dynamic shape control of flexible rib is realized, the desired shape is achieved, and the rib vibration during the morphing process is slight.
Finally, a morphing wing experiment platform with 9 actuating units connected by CAN field bus is developed, and the software for the multiple node sampled control system is designed. The mathematical model of the morphing wing platform is established. Considering the control input constraints in the real system and the dynamic topological structures of the cooperation information links, the distributed cooperative controller based on Consensus algorithm is proposed. The designed controller is implemented on the experiment platform, and experiments are carried out. Simulation and experiment results show that the controller can make all the actuating units cooperatively achieve the desired positions, which demonstrates the feasibility of the distributed control architecture for morphing wings.
首先,建立了基于桁架结构的自适应翼肋的动力学模型。针对这种结构复杂、耦合约束多、运动幅度大并具有非线性特性的变形机构,采用了两种方法进行建模,即基于矢量力学的方法和基于分析力学的方法;两种建模方法得到了一致的自适应翼肋非线性关联模型。以这个非线性关联模型为基础,采用Takagi-Sugeno(T-S)模糊逼近理论,建立了自适应翼肋的仿射型T-S模糊关联模型。仿真结果表明仿射型T-S模糊关联模型具有较好的逼近效果。
随后,研究了非线性自适应翼肋的鲁棒控制问题。基于T-S模糊理论,设计了自适应翼肋的模糊分散控制器;研究了模糊控制器的偏置项的设计方法,将仿射型T-S模糊模型变换为齐次型形式,以避免产生难于求解的双线性矩阵不等式。为了提高这种分布式驱动的自适应翼肋的协调运动能力,设计了满足鲁棒性能指标的基于耦合节点信息和基于虚拟结构的分布式协调控制器。仿真结果表明所设计的自适应翼肋控制器,都能够在外界扰动作用下,使翼肋的形状收敛到期望翼型;所设计的协调控制律使得翼肋在变形过程中能保持光滑连续的外形。
然后,对压电材料驱动的柔性翼肋的动态形状控制问题展开了研究。用参数化方法拟合翼肋形状,将分布参数模型转化为有限维模型。在此基础上,考虑剩余模态引起的传感信息误差,设计了基于观测器的动态形状控制器和模糊自适应动态形状控制器。仿真结果表明柔性翼肋能够实现动态形状控制,达到期望的形状,并且在变形过程中翼肋振动小。
最后,研制了基于CAN总线的具有9个驱动单元的变形机翼实验平台,设计了多节点采样控制系统软件;建立了这个实验平台的数学模型,考虑实际系统控制输入的饱和约束以及信息链路的动态拓扑结构,设计了基于Consensus算法的分布式协调控制律,并在实验平台上实现了所设计的控制律,进行了实验。仿真和实验结果都表明所设计的控制器能协调各个驱动单元达到期望位置,验证了变形机翼的分布式控制体系结构的可行性。
At present, researches on morphing aircraft have attracted extensive research interests. There are many relative research programs in both America and Europe. Recently, in China, researches on morphing aircraft have also been launched, and many national foundations, such as National Natural Science Foundation of China, start to support this kind of researches. In response to the change of fight environment and missions, a morphing aircraft can change its shape in a continuous, smooth and controlled way, in order to always keep optimal flight status and meet the requirement of enlarging flight envelope and carrying out multi-missions. Compared with traditional fixed-configuration aircraft, the most special part of a morphing aircraft is the shape-change structures with distributed actuators. This dissertation is focused on distributed shape control problems of morphing aircraft, including modeling and control of adaptive ribs with truss structures, dynamic shape control of flexible ribs actuated by smart material, and the realization of a distributively actuated morphing wing experimental platform.
First of all, a dynamic model of adaptive ribs with truss structures is constructed. To model the mechanism with complex structures, a lot of coupling constraints, large stroke and highly nonlinearity, two modeling methods are used: the method based on vector mechanics and the method based on analytical mechanics. Both methods acquire the same nonlinear interconnected model of adaptive ribs. Based on this nonlinear interconnected model, by using T-S fuzzy approximation theory, the affine T-S fuzzy interconnected model of adaptive ribs is presented. Simulation results show that the fuzzy model has good approximation performance.
Next, the robust control of nonlinear adaptive ribs is studied. Based on T-S fuzzy theory, the decentralized fuzzy controller of adaptive ribs is designed. The bias term of fuzzy controller is designed to transform the affine T-S fuzzy model into homogeneous T-S fuzzy model, which avoids bilinear matrix inequalities. To increase the cooperative capacity of distributed-actuated adaptive ribs, two kinds of performance-guaranteed, distributed cooperative control laws are presented, which are based on neighbor information and virtual structure respectively. Simulation results show that by using the presented controllers, the rib can achieve desired airfoils under external disturbances, and during the control process the rib shape is kept smooth and continuous under the control of cooperative control laws.
The next, the dynamic shape control problem of the flexible rib actuated by piezoelectric materials is studied. The airfoil is parameterized, and the distributed parameter model is transformed into a finite-dimensional model. Then, considering the sensor information error caused by residual modes, the observer-based dynamic shape controller and the fuzzy adaptive dynamic shape controller are designed. Simulation results show that the dynamic shape control of flexible rib is realized, the desired shape is achieved, and the rib vibration during the morphing process is slight.
Finally, a morphing wing experiment platform with 9 actuating units connected by CAN field bus is developed, and the software for the multiple node sampled control system is designed. The mathematical model of the morphing wing platform is established. Considering the control input constraints in the real system and the dynamic topological structures of the cooperation information links, the distributed cooperative controller based on Consensus algorithm is proposed. The designed controller is implemented on the experiment platform, and experiments are carried out. Simulation and experiment results show that the controller can make all the actuating units cooperatively achieve the desired positions, which demonstrates the feasibility of the distributed control architecture for morphing wings.
引文
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