基于改进自适应反步和动态控制分配的指令跟踪方法研究
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摘要
用改进的反步控制(backstepping)和动态控制分配(dynamic control allocation,DCA)相结合的方法使某战斗机在不同的飞行条件下能够自适应地跟踪不同的指令。首先介绍了经典的李雅普诺夫方法以及经典的反步控制方法,然后提出了适用于一般飞控系统模型的改进反步控制方法,最后针对一般控制分配方法无法补偿忽略舵机动态的问题,介绍了一种动态控制分配方法,并将其成功应用于整个闭环系统的设计中。通过反步法保留了系统中稳定的非线性项,将不稳定的非线性项消去,又通过动态分配使忽略舵机惯性造成的影响最小。仿真结果表明所设计的闭环方案具有良好的响应特性,在不同的飞行条件下均可以实现对指令信号的良好跟踪,并具有一定的鲁棒性。
This paper uses the modified Backstepping(BS) Control method and the Dynamic Control Allocation(DCA) method to solve the problem that when the fighter aircraft under different flight conditions,it will be adaptively tracking different commands. Firstly,we introduce the classical Lyapunov method and classical backstepping control method,and then propose a modified backstepping control method to be applied by general flight control system model. Finally,for the problem that the common control allocation method can't compensate for ignoring the actuator dynamics,a dynamic control allocation method is introduced,and it is successfully applied to the design of the whole closed loop control system. The controller reserves the stable nonlinear term of the system,eliminates the unstable nonlinear term,and minimize the impact of ignoring the actuator dynamic through the dynamic allocation.The simulation results show that the methods in this paper have a good response. It can be implemented in different flight conditions with a good performance of command tracking and lots of robustness.
This paper uses the modified Backstepping(BS) Control method and the Dynamic Control Allocation(DCA) method to solve the problem that when the fighter aircraft under different flight conditions,it will be adaptively tracking different commands. Firstly,we introduce the classical Lyapunov method and classical backstepping control method,and then propose a modified backstepping control method to be applied by general flight control system model. Finally,for the problem that the common control allocation method can't compensate for ignoring the actuator dynamics,a dynamic control allocation method is introduced,and it is successfully applied to the design of the whole closed loop control system. The controller reserves the stable nonlinear term of the system,eliminates the unstable nonlinear term,and minimize the impact of ignoring the actuator dynamic through the dynamic allocation.The simulation results show that the methods in this paper have a good response. It can be implemented in different flight conditions with a good performance of command tracking and lots of robustness.
引文
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[2]Peresada S,Kovbasa S,Dymko S,et al.Dynamic Output Feedback Linearizing Control of Saturated Induction Motors with Torque Per Ampere Ratio Maximization[C]∥2016 2nd International Conference on Intelligent Energy and Power Systems,2016:1-6
[3]Guo Y,Yue T,Wang L.Unconventional Roll Axis Response-Type Nonlinear Dynamic Inversion Flight Control Law Design[C]∥Guidance,Navigation and Control Conference(CGNCC),2016:1085-1090
[4]Van Zwieten T S,Gilligan E T,Wall J H,et al.Adaptive Augmenting Control Flight Characterization Experiment on an F/A-18[J].Science Education Article Collects,2014,4(2):185-194
[5]朱建文,刘鲁华,汤国建,等.基于反馈线性化及滑模控制的俯冲机动制导方法[J].国防科技大学学报,2014,36(2):24-29Zhu Jianwen,Liu Luhua,Tang Guojian,et al.Diving Guidance with Maneuver Based on Feedback Linearization and Slide Mode Control[J].Journal of National University of Defense Technology,2014,36(2):24-29(in Chinese)
[6]Krstic M,Kokotovic P V,Kanellakopoulos I.Nonlinear and Adaptive Control Design[M].Springer,Berlin Heidelbery,2003,4475-4480
[7]Han D,Wang X,Chen L,et al.Command-Filtered Backstepping Control for a Multi-Vectored Thrust Stratospheric Airship[J].Trans of the Institute of Measurement and Control,2016,38(1):93-104
[8]Chrif L,Kadda Z M.Aircraft Control System Using LQG and LQR Controller with Optimal Estimation-Kalman Filter Design[J].Procedia Engineering,2014,80:245-257
[9]Durham W C.Constrained Control Allocation[J].Journal of Guidance,Control,and Dynamics,1993,16(4):717-725