自转式无人旋翼机飞行控制技术研究
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摘要
飞行器无人化，研制新型结构无人飞行器及高自主级别无人飞行器是当前飞行器技术发展的重要方向之一。本文在该思想的指导下，以某自转式无人旋翼机为平台，针对实际研制工作中遇到的问题，结合相关理论开展研究工作，研究内容包括数学模型的建立、操纵响应性分析、飞行控制策略设计、基于虚拟参考校正方法的控制器参数优化、基于鲁棒非脆弱的控制律重构设计等方面。
文章首先从无动力旋翼自转特性分析入手，分析了自转式无人旋翼机的结构和建模特点，运用飞行动力学知识并结合该旋翼机的结构特性建立了该无人旋翼机的飞行动力学数学模型。然后结合该无人旋翼机小扰动线性化模型，分析了部分起主要作用的气数导数的意义，并结合相关气动导数，分析了该无人旋翼机的操纵响应性，从而揭示了无人旋翼机独特的操纵响应特性。
其次，针对该无人旋翼机的操纵特性和飞行动力学特点，设计了包括滑跑起飞控制、高度控制以及固定高度转弯飞行控制在内的相关控制回路，涉及姿态控制、解耦控制、速度控制与位置控制等。研究结果表明，无人旋翼机地面滑跑阶段，纵向对称面两侧受力不平衡，不平衡因素来自于旋翼拉力不对称，故提出了引入地面支反力作为反馈信号以保证起飞段姿态平稳的控制策略，避免侧倾及侧滑；在高度控制方面，桨盘俯仰操纵与发动机推力操纵组合控制实现对高度指令的跟踪，是无人旋翼机独特的操纵特性；在转弯飞行控制方面，当无人旋翼机受到外部扰动偏离预定航迹时，采用了基于侧偏速率和侧偏距离进行航迹修正的控制策略，达到了良好的航迹跟踪效果。
再次，针对无人旋翼机数学模型复杂、非线性较强等特点，结合自适应控制、系统辨识等知识，运用虚拟参考反馈校正控制方法对无人旋翼机姿态控制回路前向通道控制器和反馈控制器进行设计。该方法避免了对复杂被控对象的建模过程，利用输入-输出实验观测数据，将控制器设计问题转化为代价函数的优化问题，从而可进一步运用辨识优化的方法推导求解控制器设计过程。此外，该方法还具有在线学习能力，可根据实时测得的输入-输出数据，对控制器参数矢量进行及时调整，以适应飞行控制的需要。
然后，结合当前与今后一段时间无人旋翼机的发展方向，以提高无人旋翼机自主级别为指导思想，在状态反馈回路出现故障的情况下，运用测量输出重构系统状态量作为反馈信号，以保证飞行任务继续执行，致力于让无人旋翼机具有在线控制律重构能力。针对无人旋翼机系统中广泛存在的参数摄动问题，依赖于线性化无人旋翼机系统模型，考虑了系统参数摄动情况下的鲁棒非脆弱H∞控制律重构系统的求解问题，并充分考虑闭环系统的动态响应性，即极点配置问题，运用线性矩阵不等式（LMI）方法，给出不确定系统的H∞非脆弱控制律重构系统的求解方法。仿真试验结果表明，运用该方法设计的控制律重构系统，所重构的控制律能够使不确定系统鲁棒稳定，且能达到所要求的动态响应特性。
最后，介绍了某无人旋翼机系统开发与研制过程，并详细介绍了飞行控制系统的组成结构及软/硬件设计过程。接着，为验证该无人旋翼机控制策略的有效性，利用地面半物理仿真平台进行仿真研究，介绍了仿真平台组成结构与仿真原理，按照试飞要求进行仿真实验，验证了该仿真平台及控制策略的有效性。
With the development of aerial vehicle currently and in future time, which contains developingunmanned aerial vehicle with novel structural configuration and high autonomous control levels, thisdissertation focuses on the unmanned gyroplane and the correlative control system design. With theproblems emerged in practical work, this dissertation solved the problems with correlative theories.All research work included in this dissertation contains some aspects, such as analysis of modelingand flight dynamics, analysis of stability and control response, design of flight control systems,parameters optimized for controller based on virtual reference feedback tuning method, design ofstates reconfigurable flight control system based on robust and non-fragile H∞theories, and so on.
This dissertation firstly develops the work of analysis on the response of rotor with no drivepower from the engine of the gyroplane, then analyzes unique structural configuration and modelingcharacters. In following paper, the flight dynamics mathematical model for the unmanned gyroplaneis established with analysis for its structural configuration, and then a linear model of the unmannedgyroplane is derived. The significance of some main aerodynamic derivatives is analyzed. With theaerodynamic derivatives, the stability and control response of the unmanned gyroplane is analyzed.Consequently the unique control response of the unmanned gyroplane is shown in the dissertation.
Secondly, considering the control response and flight dynamics characters of the unmannedgyroplane, some correlative control loops, include autonomic take-off control loop, high control loopand turning flight navigation control loop, are designed. These research contains attitude control,decoupled control, velocity control, position control and so on. Some investigations are acquired.Considering taxiing on the ground of the unmanned gyroplane, aerodynamic force from the rotor pullis asymmetry so that the force worked on gyroplane are imbalance. So an autonomic takeoff methodis proposed, in which the longitudinal and lateral control are kept in balance with ground force,attitude and lateral skidding feedback, so that the unmanned gyroplane can climb up smoothly withoutground constraints. To height control loop for the unmanned gyroplane, either rotor pitch control orengine thrust force control can successfully work for height control loop. Base on analysis of thesetwo methods, a new method that integrates rotor pitch control and engine thrust control is proposed,which can show the unique character of gyroplane. And the method presented can also avoiddisadvantage in rotor pitch control or engine thrust force control either. Considering navigationcontrol of turning flight for the unmanned gyroplane, the flight characteristics on circle track wasanalyzed and the velocity control was presented. For the problem of untracking the circle track, a correction strategy was designed with lateral aberrancy. In a word, the height loop and the velocityloop was co-designed on the basis of attitude loop. Finally, a hardware-in-loop simulation wasprovided to demonstrate the effectiveness of the proposed navigation approach and control strategy.
Next, considering the mathematics model of the unmanned gyroplane is very complex and full ofnonlinear, combining with self-adaptation control theory and system identification system theory,virtual reference feedback tuning method is presented for controller designing in attitude control loopof unmanned gyroplane, in which no model of the plant is needed. Based on input and outputmeasurements in a linear model, the problem of controller design is transformed into optimizing acontrol cost function of a norm type. As to the optimization problem in controller designing, themethod of system identification can be used. Moreover, this method proposed has the capability ofself adapted real time, so that it can modify the controller parameters real time with input and outputdata measured, in order to meet the command of flight control.
Then, with the development of unmanned gyroplane currently and in future time, to improve theautonomous control levels of unmanned gyroplane, the method of states reconfigurable system designis presented with output data measured while the states feedback loop can not work normally. Thisstates reconfigurable system is designed to provide feedback signals for gyroplane, so that it canensure the mission can be finished normally, enhancing the states configurable capability forunmanned gyroplane. Considering a class of uncertain systems with parametric uncertainties and thedynamic response character, the problem of states configurable system design is researched withlinear model of the unmanned gyroplane. Further more, a robust and non-fragile H∞statesconfigurable system design method is derived in the form of a linear matrix inequality, viz LMI,which can improve the stability of closed system with parametric uncertainties. An illustrativenumerical example and practical simulation is provided to demonstrate the effectiveness of theproposed approach.
Finally, the engineering realization of control system for the unmanned gyroplane, includingexploitation and developing process, is presented, especially the design process of hardware andsoftware on the unmanned gyroplane. To verify the effectiveness of the control strategy proposed inthis dissertation, a semi-physical simulating system is used and the simulation is practiced accordingto the requirements of test-fly, which demonstrate the effectiveness of the proposed approach.
文章首先从无动力旋翼自转特性分析入手，分析了自转式无人旋翼机的结构和建模特点，运用飞行动力学知识并结合该旋翼机的结构特性建立了该无人旋翼机的飞行动力学数学模型。然后结合该无人旋翼机小扰动线性化模型，分析了部分起主要作用的气数导数的意义，并结合相关气动导数，分析了该无人旋翼机的操纵响应性，从而揭示了无人旋翼机独特的操纵响应特性。
其次，针对该无人旋翼机的操纵特性和飞行动力学特点，设计了包括滑跑起飞控制、高度控制以及固定高度转弯飞行控制在内的相关控制回路，涉及姿态控制、解耦控制、速度控制与位置控制等。研究结果表明，无人旋翼机地面滑跑阶段，纵向对称面两侧受力不平衡，不平衡因素来自于旋翼拉力不对称，故提出了引入地面支反力作为反馈信号以保证起飞段姿态平稳的控制策略，避免侧倾及侧滑；在高度控制方面，桨盘俯仰操纵与发动机推力操纵组合控制实现对高度指令的跟踪，是无人旋翼机独特的操纵特性；在转弯飞行控制方面，当无人旋翼机受到外部扰动偏离预定航迹时，采用了基于侧偏速率和侧偏距离进行航迹修正的控制策略，达到了良好的航迹跟踪效果。
再次，针对无人旋翼机数学模型复杂、非线性较强等特点，结合自适应控制、系统辨识等知识，运用虚拟参考反馈校正控制方法对无人旋翼机姿态控制回路前向通道控制器和反馈控制器进行设计。该方法避免了对复杂被控对象的建模过程，利用输入-输出实验观测数据，将控制器设计问题转化为代价函数的优化问题，从而可进一步运用辨识优化的方法推导求解控制器设计过程。此外，该方法还具有在线学习能力，可根据实时测得的输入-输出数据，对控制器参数矢量进行及时调整，以适应飞行控制的需要。
然后，结合当前与今后一段时间无人旋翼机的发展方向，以提高无人旋翼机自主级别为指导思想，在状态反馈回路出现故障的情况下，运用测量输出重构系统状态量作为反馈信号，以保证飞行任务继续执行，致力于让无人旋翼机具有在线控制律重构能力。针对无人旋翼机系统中广泛存在的参数摄动问题，依赖于线性化无人旋翼机系统模型，考虑了系统参数摄动情况下的鲁棒非脆弱H∞控制律重构系统的求解问题，并充分考虑闭环系统的动态响应性，即极点配置问题，运用线性矩阵不等式（LMI）方法，给出不确定系统的H∞非脆弱控制律重构系统的求解方法。仿真试验结果表明，运用该方法设计的控制律重构系统，所重构的控制律能够使不确定系统鲁棒稳定，且能达到所要求的动态响应特性。
最后，介绍了某无人旋翼机系统开发与研制过程，并详细介绍了飞行控制系统的组成结构及软/硬件设计过程。接着，为验证该无人旋翼机控制策略的有效性，利用地面半物理仿真平台进行仿真研究，介绍了仿真平台组成结构与仿真原理，按照试飞要求进行仿真实验，验证了该仿真平台及控制策略的有效性。
With the development of aerial vehicle currently and in future time, which contains developingunmanned aerial vehicle with novel structural configuration and high autonomous control levels, thisdissertation focuses on the unmanned gyroplane and the correlative control system design. With theproblems emerged in practical work, this dissertation solved the problems with correlative theories.All research work included in this dissertation contains some aspects, such as analysis of modelingand flight dynamics, analysis of stability and control response, design of flight control systems,parameters optimized for controller based on virtual reference feedback tuning method, design ofstates reconfigurable flight control system based on robust and non-fragile H∞theories, and so on.
This dissertation firstly develops the work of analysis on the response of rotor with no drivepower from the engine of the gyroplane, then analyzes unique structural configuration and modelingcharacters. In following paper, the flight dynamics mathematical model for the unmanned gyroplaneis established with analysis for its structural configuration, and then a linear model of the unmannedgyroplane is derived. The significance of some main aerodynamic derivatives is analyzed. With theaerodynamic derivatives, the stability and control response of the unmanned gyroplane is analyzed.Consequently the unique control response of the unmanned gyroplane is shown in the dissertation.
Secondly, considering the control response and flight dynamics characters of the unmannedgyroplane, some correlative control loops, include autonomic take-off control loop, high control loopand turning flight navigation control loop, are designed. These research contains attitude control,decoupled control, velocity control, position control and so on. Some investigations are acquired.Considering taxiing on the ground of the unmanned gyroplane, aerodynamic force from the rotor pullis asymmetry so that the force worked on gyroplane are imbalance. So an autonomic takeoff methodis proposed, in which the longitudinal and lateral control are kept in balance with ground force,attitude and lateral skidding feedback, so that the unmanned gyroplane can climb up smoothly withoutground constraints. To height control loop for the unmanned gyroplane, either rotor pitch control orengine thrust force control can successfully work for height control loop. Base on analysis of thesetwo methods, a new method that integrates rotor pitch control and engine thrust control is proposed,which can show the unique character of gyroplane. And the method presented can also avoiddisadvantage in rotor pitch control or engine thrust force control either. Considering navigationcontrol of turning flight for the unmanned gyroplane, the flight characteristics on circle track wasanalyzed and the velocity control was presented. For the problem of untracking the circle track, a correction strategy was designed with lateral aberrancy. In a word, the height loop and the velocityloop was co-designed on the basis of attitude loop. Finally, a hardware-in-loop simulation wasprovided to demonstrate the effectiveness of the proposed navigation approach and control strategy.
Next, considering the mathematics model of the unmanned gyroplane is very complex and full ofnonlinear, combining with self-adaptation control theory and system identification system theory,virtual reference feedback tuning method is presented for controller designing in attitude control loopof unmanned gyroplane, in which no model of the plant is needed. Based on input and outputmeasurements in a linear model, the problem of controller design is transformed into optimizing acontrol cost function of a norm type. As to the optimization problem in controller designing, themethod of system identification can be used. Moreover, this method proposed has the capability ofself adapted real time, so that it can modify the controller parameters real time with input and outputdata measured, in order to meet the command of flight control.
Then, with the development of unmanned gyroplane currently and in future time, to improve theautonomous control levels of unmanned gyroplane, the method of states reconfigurable system designis presented with output data measured while the states feedback loop can not work normally. Thisstates reconfigurable system is designed to provide feedback signals for gyroplane, so that it canensure the mission can be finished normally, enhancing the states configurable capability forunmanned gyroplane. Considering a class of uncertain systems with parametric uncertainties and thedynamic response character, the problem of states configurable system design is researched withlinear model of the unmanned gyroplane. Further more, a robust and non-fragile H∞statesconfigurable system design method is derived in the form of a linear matrix inequality, viz LMI,which can improve the stability of closed system with parametric uncertainties. An illustrativenumerical example and practical simulation is provided to demonstrate the effectiveness of theproposed approach.
Finally, the engineering realization of control system for the unmanned gyroplane, includingexploitation and developing process, is presented, especially the design process of hardware andsoftware on the unmanned gyroplane. To verify the effectiveness of the control strategy proposed inthis dissertation, a semi-physical simulating system is used and the simulation is practiced accordingto the requirements of test-fly, which demonstrate the effectiveness of the proposed approach.
引文
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