基于高阶LADRC的V/STOL飞机悬停/平移模式鲁棒协调解耦控制

doi:10.13700/j.bh.1001-5965.2018.0758

北京航空航天大学学报 ›› 2019, Vol. 45 ›› Issue (9): 1812-1823.doi: 10.13700/j.bh.1001-5965.2018.0758

基于高阶LADRC的V/STOL飞机悬停/平移模式鲁棒协调解耦控制

高阳¹, 吴文海¹, 嵇绍康¹, 郑毅²

1. 海军航空大学青岛校区, 青岛 266041;
2. 中国人民解放军91599部队修理厂, 烟台 265200

收稿日期:2018-12-25 出版日期:2019-09-20 发布日期:2019-09-29
通讯作者: 吴文海 E-mail:hkdx_2017@126.com
作者简介:高阳,男,博士研究生。主要研究方向:推力矢量飞机飞行控制、非线性控制理论与应用;吴文海,男,博士,教授,博士生导师。主要研究方向:飞行综合控制、战机攻击导引。
基金资助:
国家自然科学基金（60674090，51505491）

High-order LADRC based robust coordinated decoupling control for V/STOL aircraft in hover/translation mode

GAO Yang¹, WU Wenhai¹, JI Shaokang¹, ZHENG Yi²

1. Qingdao Branch, Naval Aeronautical University, Qingdao 266041, China;
2. Repair Depot, Troops 91599 of the PLA, Yantai 265200, China

Received:2018-12-25 Online:2019-09-20 Published:2019-09-29
Supported by:
National Natural Science Foundation of China (60674090,51505491)

摘要/Abstract

摘要： 针对垂直/短距起降（V/STOL）飞机在悬停/平移模式下存在的动力学耦合、推力矢量控制冗余以及易受扰动风影响的问题，提出了一种基于高阶线性自抗扰控制（LADRC）的鲁棒协调解耦控制方法。首先根据V/STOL飞机的概念方案，建立了推力矢量模型和扰动风影响下的非线性悬停/平移运动模型。然后在此基础上，给出了该模式下位置和姿态的协调控制策略，据此通过控制量变换设计了六通道的自抗扰解耦控制律，其中利用LADRC对总扰动的实时估计补偿能力避免了多推力矢量的冗余控制。仿真比较结果验证了LADRC对悬停/平移模式控制的有效性以及对飞机内部参数摄动和外界突风干扰的鲁棒性。

关键词: 垂直/短距起降(V/STOL)飞机, 线性自抗扰控制(LADRC), 悬停/平移模式, 协调解耦控制, 突风扰动

Abstract: To deal with the issue of dynamic coupling, thrust vector control redundancy and vulnerability to disturbed wind for vertical and/or short take-off and landing (V/STOL) aircraft in hover/translation mode, a robust coordinated decoupling flight control method based on high-order linear active disturbance rejection control (LADRC) is proposed. Firstly, the thrust vector model and the nonlinear hover/translation motion model under the disturbed wind are established according to the concept of V/STOL aircraft. On this basis, the coordinated control strategy of attitude and position is given in this mode. Then by transforming the control variables, six active disturbance rejection decoupling control laws are designed, which refrains from the redundant control of multiple thrust vectors using LADRC to compensate the total disturbances in real time. Simulation results show the effectiveness of the LADRC applied to hover/translation control and the robustness of the designed control laws for aircraft internal parameter perturbation and external gust disturbance.

Key words: vertical and/or short take-off and landing (V/STOL) aircraft, linear active disturbance rejection control (LADRC), hover/translation mode, coordinated decoupling control, gust disturbance

中图分类号:

V249.1

高阳, 吴文海, 嵇绍康, 郑毅. 基于高阶LADRC的V/STOL飞机悬停/平移模式鲁棒协调解耦控制[J]. 北京航空航天大学学报, 2019, 45(9): 1812-1823.

GAO Yang, WU Wenhai, JI Shaokang, ZHENG Yi. High-order LADRC based robust coordinated decoupling control for V/STOL aircraft in hover/translation mode[J]. JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2019, 45(9): 1812-1823.

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基于高阶LADRC的V/STOL飞机悬停/平移模式鲁棒协调解耦控制

High-order LADRC based robust coordinated decoupling control for V/STOL aircraft in hover/translation mode

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