无人飞行器H_∞混合灵敏度鲁棒控制
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摘要
针对各类飞行器机动性能的要求不断提升的现状,以一种新型无人飞行器为主要研究对象,建立了无人飞行器的运动模型,并设计了一种基于混合灵敏度鲁棒控制理论的控制器对其进行姿态控制,使该无人飞行器姿态控制系统具有较好的鲁棒性能和干扰抑制能力,能够适应数学模型参数的不确定性,基于所建的模型进行了数学仿真和半实物仿真实验。结果表明,所设计的控制器在参数摄动时阶跃响应调节时间短,鲁棒性好。研究结果为解决无人飞行器运动中的复杂干扰问题提供了理论依据和参考方法。
A new type of unmanned aerial vehicle is taken as the main research object,in order to meet the requirements for improving the maneuverability of all kinds of aircraft. The dynamic model of unmanned aerial vehicle was established,and a mixed sensitivity robust controller of the unmanned aerial vehicle was designed. The attitude control system has better robust performance and can effectively adapt to the uncertainty condition of the parameters of mathematical model. And the ability of suppressing disturbance of the unmanned aerial vehicle control system is stronger. With the model,the mathematical and hardware-in-the-loop simulations of the unmanned aerial vehicle were done. Test results showed that the settling time of the unmanned aerial vehicle controller is short,and the overshoot of the system is small.Besides,the unmanned aerial vehicle system is robust. The complex interference problem can be better solved. The results should be very useful to the design of the whole control system of the unmanned aerial vehicle.
A new type of unmanned aerial vehicle is taken as the main research object,in order to meet the requirements for improving the maneuverability of all kinds of aircraft. The dynamic model of unmanned aerial vehicle was established,and a mixed sensitivity robust controller of the unmanned aerial vehicle was designed. The attitude control system has better robust performance and can effectively adapt to the uncertainty condition of the parameters of mathematical model. And the ability of suppressing disturbance of the unmanned aerial vehicle control system is stronger. With the model,the mathematical and hardware-in-the-loop simulations of the unmanned aerial vehicle were done. Test results showed that the settling time of the unmanned aerial vehicle controller is short,and the overshoot of the system is small.Besides,the unmanned aerial vehicle system is robust. The complex interference problem can be better solved. The results should be very useful to the design of the whole control system of the unmanned aerial vehicle.
引文
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[2] Donadel R,Raffo G V,Becker L B. Modeling and control of a tiltrotor UAV for path tracking[J]. IFAC Proceedings Volumes,2014,47(3):3839-3844.
[3]李新国,方群.有翼导弹飞行动力学[M].西安:西北工业大学出版社,2010:37-48.
[4]刘兴堂.导弹制导控制系统分析、设计与仿真[M].西安:西北工业大学出版社,2006:112-119.
[5] Magni L,Nijmeijer H,A J van der Schaft. A recedinghorizon approach to the nonlinear control problem[J].Automatica,2001,37(3):429-435.
[6] Shoudong Huang,James M R,Jiang Z P. Bounded robust control of nonlinear cascade systems[J]. Systems and Control Letters,2005,54(3):215-224.
[7] Yoshihiko Miyasato. Nonlinear adaptive control for robotic manipulators with motor dynamics[C]. SICE 2002,Osaka,2002:1940-1943.
[8] Kamel Hentabli,Ouassima Akhrif,Lahcen Saydy. Robust longitudinal flight control system under weight and center of gravity uncertainty[C]. CCECE 2003,Montreal,2003:1743-1748.
[9] Cianndong Yang,Chienchung Kung. Nonlinear flight control of general six degree-of-freedom motions[C].Proceedings of the American Control Conference,Chicago,2000:1852-1856.
[10] Guoping Lu,Yufan Zheng,Daniel W C. Nonlinear robust control via dynamic output feedback[J]. Systems and Control Letters,2000,39(3):193-202.
[11] Jonghoon Park,Wan Kyun Chung. Analytic nonlinear inverse-optimal control for euler-lagrange system[J].IEEE Transactions on Robotics and Automation,2000,16(6):847-854.
[12] Kap Rai Lee,Do Chang Oh,Kyeong Ho Bang,et al.Mixed control with regional pole placements for underwater vehicle systems[C]. Proceedings of the American Control Conference,Chicago Illinois,2000:80-84.
[13] Fossen T I. Marine control systems:guidance,navigation and control of ships,rigs and underwater vehicles[M]. Trondheim:Marine Cybernetics AS,2002.
[14] Kemin Zhou,John C Doyle,Keith Glover. Robust and optimal control[M]. Upper Saddle River,NJ,USA,Prentice-Hall,1995.
[15] Bing Chen. Adaptive fuzzy output tracking control of MIMO nonlinear uncertain systems[J]. IEEE Transactions on fuzzy systems,2007,15(2):287-300.
[16] Real-time workshop user’s guide[EB/OL]. 1997.https://lost-contact. mit. edu/afs/it. kth. se/misc/packages/matlab-5. 2/help/pdf_doc/rtw/rtw_ug. pdf.
[17] Aerospace blockset user’s guide[EB/OL]. 2002.https://www. mathworks. com/help/pdf_doc/aeroblks/aeroblks. pdf.
[18]边江楠,冯顺山,邵志宇,等.灵巧航行体半实物仿真系统设计方法与应用[J].北京理工大学学报,2013,33(1):26-30.
[19]康凤举,杨惠珍,高立娥.现代仿真技术与应用[M].北京:国防工业出版社,2010:392-393.
[20]单家元,孟秀云,丁艳.半实物仿真[M].北京:国防工业出版社,2008:245-246.