倾转旋翼机模型参考自适应双重控制系统研究
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摘要
倾转旋翼机是集传统直升机和固定翼飞机优点于一身的新型飞行器。在垂直起降阶段,它由于受到外界环境条件的影响,常常表现出意想不到的非平衡现象。为了研究倾转旋翼机在垂直起降阶段滚动通道的非线性控制问题,本文在实验室条件下建立了双螺旋桨模拟装置,并采用模型参考自适应双重控制策略对其进行半实物仿真实验。
首先,本文对倾转旋翼机的操纵策略进行了简要分析,从中抽象出直升机模式下垂直起降阶段的单通道试验模型——双螺旋桨装置,并给出了该装置滚动通道控制的总体方案。通过对螺旋桨桨叶和滚动通道的动力学特性进行分析,从中提取出了本课题所采用试验装置的数学模型。
其次,针对双螺旋桨装置表现出的特性,我们设计了三种控制器,即传统模型参考自适应控制器、谨慎修正的模型参考自适应控制器和模型参考自适应双重控制器。同时,在MATLAB/GUIDE环境下开发了用于双螺旋桨控制系统实验的人机交互界面,在该人机界面下对设计的三种控制器进行了离线仿真分析。仿真结果表明,不论是在系统启动的初始阶段,还是在平稳运行阶段,采用模型参考自适应双重控制方法使得系统的实际输出都能很好地跟踪模型的输出,所设计的系统具有良好的跟踪性和伺服性。
为了使螺旋桨按照给定的指令旋转,本课题设计了基于FPGA的无刷直流电机驱动电路板,给出了基于Verilog HDL语言的数字硬件实现原理,并通过仿真验证和下载验证,证明了本设计思路的正确性。
最后,在MATLAB/RTW实时仿真平台下,利用S-函数构建了模型参考自适应双重控制算法的Simulink仿真模型,通过PCI-1711数据采集板卡实现了对双螺旋桨机械装置的半实物控制实验。
Tilt-rotor aircraft is a new kind of flight vehicle which has the advantages of both helicopter and fixed-wing aircraft. In the vertical take-off and land (VTOL) stage of tilt-rotor aircraft, some unexpected unbalanced phenomena appeares under the influence of external conditions. In order to study the nonlinear control problem of the tilt-rotor aircraft’s roll channel in the VTOL process, a simulation device of twin-screw is built and semi-physical simulation test has been done with the dual model reference adaptive control strategy.
First, a brief analysis to handling strategy of tilt-rotor aircraft is proposed, from which it draws out the single channel experimental model of VTOL stage——the device of twin-screw. Based on the analysis, the general scheme is also put forward to control the roll channel of the device. A mathematical model is obtained after analyzing the dynamics of roll channel in VTOL stage.
Second, according to the characteristics of twin-screw three controllers are designed: traditional model reference adaptive controller, cautious modified model reference adaptive controller and dual model reference adaptive controller. Man-Machine interface is developed for the experiment of twin-screw in the MATLAB/GUIDE environment. Off-line simulation is done for these three controllers under the man-machine interface. The simulation results show that system with dual model reference adaptive control strategy has good tracking and servo performance.
Brushless DC motor (BLDCM) is designed based on FPGA in order to make the screws circumrotate according to the dictate. The digital hardware implement principle is presented based on Verilog HDL. The correctness of the design is proved by both simulation validate and download validate.
Finally, the simulink model of dual model reference adaptive control strategy is constructed by S-function in MATLAB/RTW simulation platform. The semi-physical simulation test of twin-screw roll device is realized by PCI-1711 borad card.
首先,本文对倾转旋翼机的操纵策略进行了简要分析,从中抽象出直升机模式下垂直起降阶段的单通道试验模型——双螺旋桨装置,并给出了该装置滚动通道控制的总体方案。通过对螺旋桨桨叶和滚动通道的动力学特性进行分析,从中提取出了本课题所采用试验装置的数学模型。
其次,针对双螺旋桨装置表现出的特性,我们设计了三种控制器,即传统模型参考自适应控制器、谨慎修正的模型参考自适应控制器和模型参考自适应双重控制器。同时,在MATLAB/GUIDE环境下开发了用于双螺旋桨控制系统实验的人机交互界面,在该人机界面下对设计的三种控制器进行了离线仿真分析。仿真结果表明,不论是在系统启动的初始阶段,还是在平稳运行阶段,采用模型参考自适应双重控制方法使得系统的实际输出都能很好地跟踪模型的输出,所设计的系统具有良好的跟踪性和伺服性。
为了使螺旋桨按照给定的指令旋转,本课题设计了基于FPGA的无刷直流电机驱动电路板,给出了基于Verilog HDL语言的数字硬件实现原理,并通过仿真验证和下载验证,证明了本设计思路的正确性。
最后,在MATLAB/RTW实时仿真平台下,利用S-函数构建了模型参考自适应双重控制算法的Simulink仿真模型,通过PCI-1711数据采集板卡实现了对双螺旋桨机械装置的半实物控制实验。
Tilt-rotor aircraft is a new kind of flight vehicle which has the advantages of both helicopter and fixed-wing aircraft. In the vertical take-off and land (VTOL) stage of tilt-rotor aircraft, some unexpected unbalanced phenomena appeares under the influence of external conditions. In order to study the nonlinear control problem of the tilt-rotor aircraft’s roll channel in the VTOL process, a simulation device of twin-screw is built and semi-physical simulation test has been done with the dual model reference adaptive control strategy.
First, a brief analysis to handling strategy of tilt-rotor aircraft is proposed, from which it draws out the single channel experimental model of VTOL stage——the device of twin-screw. Based on the analysis, the general scheme is also put forward to control the roll channel of the device. A mathematical model is obtained after analyzing the dynamics of roll channel in VTOL stage.
Second, according to the characteristics of twin-screw three controllers are designed: traditional model reference adaptive controller, cautious modified model reference adaptive controller and dual model reference adaptive controller. Man-Machine interface is developed for the experiment of twin-screw in the MATLAB/GUIDE environment. Off-line simulation is done for these three controllers under the man-machine interface. The simulation results show that system with dual model reference adaptive control strategy has good tracking and servo performance.
Brushless DC motor (BLDCM) is designed based on FPGA in order to make the screws circumrotate according to the dictate. The digital hardware implement principle is presented based on Verilog HDL. The correctness of the design is proved by both simulation validate and download validate.
Finally, the simulink model of dual model reference adaptive control strategy is constructed by S-function in MATLAB/RTW simulation platform. The semi-physical simulation test of twin-screw roll device is realized by PCI-1711 borad card.
引文
1徐恺.倾转旋翼飞行器旋翼/机翼/机身气动干扰计算.南京航空航天大学硕士学位论文. 2007: 1~17
2 M. A. Potsdam, M. J. Silva. Tilt Rotor Aeromechanics Phenomena in Low Speed Flight. Users Group Conference, 2004: 151~157
3江东林等.倾转旋翼机发展思考.第五届飞机发展与设计专业年会论文集. 2005: 213~216
4 Martin D Maisel, Demo J Giulianetti, Daniel C Dugan. The History of the XV-15Tilt Rotor Research Aircraft. Washington: NASA History Division, 2000: 5~16
5杨军,吴希明等.倾转旋翼机飞行控制.航空工业出版社, 2006: 1~23
6 H. Unbehauen. Adaptive dual control systems: a survey. Adaptive Systems for Signal Processing. Communications and Control Symposium, 2000: 171~180
7 A. Ismail, G. A. Dumont, J. Backstrom. Dual adaptive control of paper coating. Proc. of the IEEE, 2003,(11): 289~309
8 M. K. Bugeja, S. G. Fabri. Dual Adaptive Control for Trajectory Tracking of Mobile Robots. Proc. of the IEEE, 2007,10(14): 2215~2220
9 M. K. Bugeja, S. G. Fabri. Multilayer perception dual adaptive control for mobile robots. Proc. of the IEEE, 2007,(27): 1~6
10 Lilja, J. David, Haowei, An adaptive dual control framework for QoS design. Proc. of the IEEE, 2007,(10): 217~228
11 Changjie Yu, Jihong Zhu, Zengqi Sun. Nonlinear Adaptive Internal Model Control using Neural Networks for Tilt Rotor Aircraft Platform. Soft Computing in Industrial Applications, 2005: 12~16
12陈仁良,曹芸芸.无人倾转旋翼机的操纵策略和配平方法.第二十二届全国直升机年会论文. 2006: 63~72
13 S. S. Dhaliwal, A. Ramirez-Serrano. Optimization Architecture of a Modular Architecture for Robotic Control: MARC Control Structure Applied to a VTOL UAV. Autonomic and Autonomous Systems, 2009: 238~244
14 Zhong Chen, Changjie Yu, Jianwen Yang. Dynamic Modeling Using Cascade Correlation RBF Networks for Tilt Rotor Aircraft Platform. Proc. of the IEEE, 2005,(1): 26~31
15 F. Kendoul, I. Fantoni. Modeling and Control of a Small Autonomous Aircraft Having Two Tilting Rotors. Robotics and Automation, IEEE Transactions on,2006: 1297~1302
16 Ohdaira Satoshi, Mizumoto Ikuro. Dual-rate robust adaptive control of a cart-crane system. SICE-ICASE International Joint Conference, 2006: 1800~1805
17 Young-Shin Kang, Bum-Jin Park. Ground test results of rotor governor and rate SAS for small tilt rotor UAV. Control, Automation and Systems, 2007: 830~835
18森堂,费玉华.飞行控制系统.北京航空航天大学出版社. 2005:105~157
19胡春华.纵列式无人直升机动力学建模与非线性控制.清华大学博士学位论文. 2003: 20~48
20 G. R. Gress, A dual-fan VTOL aircraft using opposed lateral tilting for pitch control, in Proc. Amer. Helicopter Soc. 59th Annu. Forum, Phoenix, AZ, 2003: 2201~2238
21 A. A. Feldbaum, Dual Control Theory I-IV. Automation and Remote Control, 1960, l(21): 874~880,1033~1039. 1961, l(22): 1~12,109~121
22 B. Wittenmark. Adaptive Dual Control Methods: An Overview. Proc. 5th IFAC Symposium on Adaptive Systems in Control and Signal Processing. Budapest, 1995: 67~72
23徐湘元.自适应控制理论与应用.电子工业出版社. 2006: 91~129
24 K. J. Astrom. Adaptive feedback control. Proc. IEEE, 1987, 75(2): 185~217
25 H. Unbehauen, U. Keuchel. Model Reference Adaptive Control Applied to Electrical Machines. Control Signal Processing, 1992, l(6): 95~109
26刘时鹏. MATLAB环境下直线单级倒立摆系统实时控制实验的研究与设计.重庆大学硕士学位论文. 2004.6: 57~60
27苏金明,阮沈勇. MATLAB实用教程.电子工业出版社. 2005: 281~327
28王宏.无刷直流电动机控制系统的研究与设计.南京理工大学硕士学位论文. 2003: 3~9
29王永.“反电势法”无刷直流电机控制系统研究.东南大学硕士学位论文. 2004: 14~26
30周杨,徐科军.基于FPGA的无刷电机控制器的设计与实现.中国仪器仪表. 2007,(7): 35~37
31薛小刚,葛毅敏. Xilinx ISE9.X FPGA/CPLD设计指南.人民邮电出版社. 2007: 87~233
32王侠.单片机无刷直流电机控制系统研究.西安科技大学硕士学位论文. 2007: 41~46
33李声晋等.基于反电势积分补偿法的无刷直流电动机控制.微特电机.2008: 37~39
34 M. Morris Mano. Digital Design. 3rd. Prentice Hall USA, 2002: 3~16
35 R. B. Mouhoub, O. Hammami. System-level design methodology with direct execution for multiprocessors on SoPC. Quality Electronic Design, 2006: 25~32
36罗杰. Verilog HDL与数字ASIC设计.华中科技大学出版社. 2008: 6~252
37赵岷.基于FPGA的控制器研究.西北工业大学硕士学位论文. 2002: 33~34
38刘庆强.基于SOPC技术的无刷直流电机运动控制器研究.北京工业大学硕士学位论文. 2008: 28~32
39熊倩.基于SOPC的直流无刷电机控制系统设计.大连海事大学硕士学位论文. 2008: 7~14
40 Shouqian Yu, Lili Yi, Weihai Chen, Zhaojin Wen. Implementation of a Multi-channel UART Controller Based on FIFO Technique and FPGA. IEEE Trans. Industrial Electronics and Applications, 2007: 2633~2638
41 J. Norhuzaimin, H. H. Maimun. The design of high speed UART. Applied Electromagnetics, 2005: 1026~1031
42 S. Mekhilef, A. Masaoud. Xilinx FPGA Based Multilevel PWM Single Phase Inverter. IEEE Trans. Industrial Technology, 2006: 259~264
43 Ka Leung, D. Alfano. Design and implementation of a practical digital PWM controller. Twenty-First Annual IEEE, 2006: 196~202
44徐日升.基于FPGA的交流电机控制IP软核的设计.西安理工大学硕士学位论文. 2004.3: 26~28
45柴敏,孙海洋,范大鹏.基于RTW的运动控制器实时在线仿真系统.机械与电子. 2008(11): 42~44
46龙利. MATLAB环境下控制系统实时仿真实验的研究.重庆大学硕士学位论文. 2005: 5~28
2 M. A. Potsdam, M. J. Silva. Tilt Rotor Aeromechanics Phenomena in Low Speed Flight. Users Group Conference, 2004: 151~157
3江东林等.倾转旋翼机发展思考.第五届飞机发展与设计专业年会论文集. 2005: 213~216
4 Martin D Maisel, Demo J Giulianetti, Daniel C Dugan. The History of the XV-15Tilt Rotor Research Aircraft. Washington: NASA History Division, 2000: 5~16
5杨军,吴希明等.倾转旋翼机飞行控制.航空工业出版社, 2006: 1~23
6 H. Unbehauen. Adaptive dual control systems: a survey. Adaptive Systems for Signal Processing. Communications and Control Symposium, 2000: 171~180
7 A. Ismail, G. A. Dumont, J. Backstrom. Dual adaptive control of paper coating. Proc. of the IEEE, 2003,(11): 289~309
8 M. K. Bugeja, S. G. Fabri. Dual Adaptive Control for Trajectory Tracking of Mobile Robots. Proc. of the IEEE, 2007,10(14): 2215~2220
9 M. K. Bugeja, S. G. Fabri. Multilayer perception dual adaptive control for mobile robots. Proc. of the IEEE, 2007,(27): 1~6
10 Lilja, J. David, Haowei, An adaptive dual control framework for QoS design. Proc. of the IEEE, 2007,(10): 217~228
11 Changjie Yu, Jihong Zhu, Zengqi Sun. Nonlinear Adaptive Internal Model Control using Neural Networks for Tilt Rotor Aircraft Platform. Soft Computing in Industrial Applications, 2005: 12~16
12陈仁良,曹芸芸.无人倾转旋翼机的操纵策略和配平方法.第二十二届全国直升机年会论文. 2006: 63~72
13 S. S. Dhaliwal, A. Ramirez-Serrano. Optimization Architecture of a Modular Architecture for Robotic Control: MARC Control Structure Applied to a VTOL UAV. Autonomic and Autonomous Systems, 2009: 238~244
14 Zhong Chen, Changjie Yu, Jianwen Yang. Dynamic Modeling Using Cascade Correlation RBF Networks for Tilt Rotor Aircraft Platform. Proc. of the IEEE, 2005,(1): 26~31
15 F. Kendoul, I. Fantoni. Modeling and Control of a Small Autonomous Aircraft Having Two Tilting Rotors. Robotics and Automation, IEEE Transactions on,2006: 1297~1302
16 Ohdaira Satoshi, Mizumoto Ikuro. Dual-rate robust adaptive control of a cart-crane system. SICE-ICASE International Joint Conference, 2006: 1800~1805
17 Young-Shin Kang, Bum-Jin Park. Ground test results of rotor governor and rate SAS for small tilt rotor UAV. Control, Automation and Systems, 2007: 830~835
18森堂,费玉华.飞行控制系统.北京航空航天大学出版社. 2005:105~157
19胡春华.纵列式无人直升机动力学建模与非线性控制.清华大学博士学位论文. 2003: 20~48
20 G. R. Gress, A dual-fan VTOL aircraft using opposed lateral tilting for pitch control, in Proc. Amer. Helicopter Soc. 59th Annu. Forum, Phoenix, AZ, 2003: 2201~2238
21 A. A. Feldbaum, Dual Control Theory I-IV. Automation and Remote Control, 1960, l(21): 874~880,1033~1039. 1961, l(22): 1~12,109~121
22 B. Wittenmark. Adaptive Dual Control Methods: An Overview. Proc. 5th IFAC Symposium on Adaptive Systems in Control and Signal Processing. Budapest, 1995: 67~72
23徐湘元.自适应控制理论与应用.电子工业出版社. 2006: 91~129
24 K. J. Astrom. Adaptive feedback control. Proc. IEEE, 1987, 75(2): 185~217
25 H. Unbehauen, U. Keuchel. Model Reference Adaptive Control Applied to Electrical Machines. Control Signal Processing, 1992, l(6): 95~109
26刘时鹏. MATLAB环境下直线单级倒立摆系统实时控制实验的研究与设计.重庆大学硕士学位论文. 2004.6: 57~60
27苏金明,阮沈勇. MATLAB实用教程.电子工业出版社. 2005: 281~327
28王宏.无刷直流电动机控制系统的研究与设计.南京理工大学硕士学位论文. 2003: 3~9
29王永.“反电势法”无刷直流电机控制系统研究.东南大学硕士学位论文. 2004: 14~26
30周杨,徐科军.基于FPGA的无刷电机控制器的设计与实现.中国仪器仪表. 2007,(7): 35~37
31薛小刚,葛毅敏. Xilinx ISE9.X FPGA/CPLD设计指南.人民邮电出版社. 2007: 87~233
32王侠.单片机无刷直流电机控制系统研究.西安科技大学硕士学位论文. 2007: 41~46
33李声晋等.基于反电势积分补偿法的无刷直流电动机控制.微特电机.2008: 37~39
34 M. Morris Mano. Digital Design. 3rd. Prentice Hall USA, 2002: 3~16
35 R. B. Mouhoub, O. Hammami. System-level design methodology with direct execution for multiprocessors on SoPC. Quality Electronic Design, 2006: 25~32
36罗杰. Verilog HDL与数字ASIC设计.华中科技大学出版社. 2008: 6~252
37赵岷.基于FPGA的控制器研究.西北工业大学硕士学位论文. 2002: 33~34
38刘庆强.基于SOPC技术的无刷直流电机运动控制器研究.北京工业大学硕士学位论文. 2008: 28~32
39熊倩.基于SOPC的直流无刷电机控制系统设计.大连海事大学硕士学位论文. 2008: 7~14
40 Shouqian Yu, Lili Yi, Weihai Chen, Zhaojin Wen. Implementation of a Multi-channel UART Controller Based on FIFO Technique and FPGA. IEEE Trans. Industrial Electronics and Applications, 2007: 2633~2638
41 J. Norhuzaimin, H. H. Maimun. The design of high speed UART. Applied Electromagnetics, 2005: 1026~1031
42 S. Mekhilef, A. Masaoud. Xilinx FPGA Based Multilevel PWM Single Phase Inverter. IEEE Trans. Industrial Technology, 2006: 259~264
43 Ka Leung, D. Alfano. Design and implementation of a practical digital PWM controller. Twenty-First Annual IEEE, 2006: 196~202
44徐日升.基于FPGA的交流电机控制IP软核的设计.西安理工大学硕士学位论文. 2004.3: 26~28
45柴敏,孙海洋,范大鹏.基于RTW的运动控制器实时在线仿真系统.机械与电子. 2008(11): 42~44
46龙利. MATLAB环境下控制系统实时仿真实验的研究.重庆大学硕士学位论文. 2005: 5~28