考虑舵机时滞的阵风减缓主动控制律设计

doi:10.13700/j.bh.1001-5965.2019.0635

北京航空航天大学学报 ›› 2020, Vol. 46 ›› Issue (12): 2236-2244.doi: 10.13700/j.bh.1001-5965.2019.0635

考虑舵机时滞的阵风减缓主动控制律设计

杨阳, 杨超, 吴志刚, 戴玉婷

北京航空航天大学航空科学与工程学院, 北京 100083

收稿日期:2019-12-18 发布日期:2020-12-28
通讯作者: 吴志刚 E-mail:wuzhigang@buaa.edu.cn
作者简介:杨阳,男,博士研究生。主要研究方向:气动弹性力学及主动控制;杨超,男,博士,教授,博士生导师。主要研究方向:气动弹性力学与控制;吴志刚,男,博士,副教授,博士生导师。主要研究方向:气动弹性力学与控制;戴玉婷,女,博士,副教授,博士生导师。主要研究方向:气动弹性力学与控制。
基金资助:
国家自然科学基金（11672018）

Design of gust alleviation active control law considering time-delay of servo actuator

YANG Yang, YANG Chao, WU Zhigang, DAI Yuting

School of Aeronautic Science and Engineering, Beihang University, Beijing 100083, China

Received:2019-12-18 Published:2020-12-28

摘要/Abstract

摘要： 针对存在舵机时滞环节的气动伺服弹性系统，提出基于Padé近似和线性二次高斯（LQG）控制的阵风减缓主动控制律设计方法。利用Padé近似将舵机中的时滞环节线性化为一个高阶传递函数并引入气动弹性模型，建立线性的阵风减缓受控模型；利用LQG控制方法对线性化模型设计阵风减缓主动控制系统，并采用平衡截断法对所设计的控制系统进行降阶；利用Simulink将所设计的控制系统引入非线性模型中，得到von Karman连续阵风激励情况下系统的开/闭环响应情况。计算结果表明：根据所提方法设计的阵风减缓主动控制律能有效降低原气动伺服弹性系统的阵风响应，对研究对象机身过载的抑制在15%左右，而对翼根弯矩的抑制达到25%以上。

关键词: 气动伺服弹性, 阵风减缓主动控制, 时间延迟, Padé近似, 最优控制

Abstract: For the aersevoelastic model including servo actuators with time-delay segment, the design method of gust alleviation control system is proposed based on Padé approximation and Linear Quadratic Gaussian (LQG) control method. Padé approximation was used to linearize the time-delay segment to a high-order transfer function, and then this function was introduced to an aeroelastic model to establish a linear controlled model of gust alleviation. The LQG method was applied to design a gust alleviation control system based on the linear model, and the order of control system was reduced by the balance truncation method. By using Simulink, the designed control system was introduced to the nonlinear model to calculate the gust responses of open/closed systems under von Karman continuous gust model. The results showed that the gust alleviation control system based on the proposed method could effectively reduce the gust responses of the original model with time-delay. The overloads of the airplane were reduced by around 15% and the root bend moment was reduced by more than 25%.

Key words: aeroservoelasticity, gust alleviation active control, time delay, Padé approximation, optimal control

中图分类号:

V215.3

杨阳, 杨超, 吴志刚, 戴玉婷. 考虑舵机时滞的阵风减缓主动控制律设计[J]. 北京航空航天大学学报, 2020, 46(12): 2236-2244.

YANG Yang, YANG Chao, WU Zhigang, DAI Yuting. Design of gust alleviation active control law considering time-delay of servo actuator[J]. Journal of Beijing University of Aeronautics and Astronautics, 2020, 46(12): 2236-2244.

参考文献

[1] WRIGHT J R,COOPER J E.飞机气动弹性力学及载荷导论[M].姚一龙,译.上海:上海交通大学出版社,2010:281-313. WRIGHT J R,COOPER J E.Introduction to aircraft aeroelasticity and loads[M].YAO Y L,translated.Shanghai:Shanghai Jiao Tong University Press,2010:281-313(in Chinese).
[2] 毕莹.大展弦比飞机阵风减缓设计与试验研究[D].北京:北京航空航天大学,2017:1-10.BI Y.Control law and wind tunnel test about gust alleviation of high-aspect-ratio aircraft[D].Beijing:Beihang University,2017:1-10(in Chinese).
[3] FULLER J R.Evolution of airplane gust loads design requirements[J].Journal of Aircraft,1995,32(2):235-246.
[4] 杨俊斌,吴志刚,戴玉婷,等.飞翼布局飞机阵风减缓主动控制风洞试验[J].北京航空航天大学学报,2017,43(1):184-191.YANG J B,WU Z G,DAI Y T,et al.Wind tunnel test of gust alleviation active control for flying wing configuration aircraft[J].Journal of Beijing University of Aeronautics and Astronautics,2017,43(1):184-191(in Chinese).
[5] LIU X,SUN Q,COOPER J E.LQG based model predictive control for gust alleviation[J].Aerospace Science and Technology,2017,71:499-509.
[6] COOK R G,PALACIOS R,GOULART P.Robust gust alleviation and stabilization of very flexible aircraft[J].AIAA Journal,2013,51(2):330-340.
[7] ALAM M,HROMCIK M,HANIS T.Active gust load alleviation system for flexible aircraft:Mixed feedforward/feedback approach[J].Aerospace Science and Technology,2015,41:122-133.
[8] ZHAO Y H,YUE C Y,HU H Y.Gust load alleviation on a large transport airplane[J].Journal of Aircraft,2016,53(6):1932-1946.
[9] 孙玉凯,张仁嘉,吴志刚,等.航模舵机的动态特性测试与系统辨识[J].北京航天航天大学学报,2020,46(2):294-303.SUN Y K,ZHANG R J,WU Z G,et al.Dynamical tests and system identification of small UAV actuators[J].Journal of Beijing University of Aeronautics and Astronaustics,2020,46(2):294-303(in Chinese).
[10] 杨建忠,徐丹,杨士斌,等.考虑非线性因素的阵风减缓系统建模与仿真[J].飞行力学,2018,36(4):48-52.YANG J Z,XU D,YANG S B,et al.Modeling and simulation of gust alleviation system with system nonlinearity[J].Flight Dynamics,2018,36(4):48-52(in Chinese).
[11] 黄伟,李芹,王志萍.增益和相位补偿的双模Smith预估控制算法[J].上海电力学院学报,2011,27(6):603-607.HUANG W,LI Q,WANG Z P.Research on dual-model Smith predictive control with gain and phrase compensation[J].Journal of Shanghai University of Electric Power,2011,27(6):603-607(in Chinese).
[12] 唐功友.时滞系统的降维状态预测器及预测控制器设计[J].控制理论与应用,2004,21(2):295-298.TANG G Y.Design of reduced-order predictive state observer and predictive controller for systems with time-delay[J].Control Theory & Applications,2004,21(2):295-298(in Chinese).
[13] 唐功友,雷靖,孙亮.控制时滞系统基于观测器的最优扰动抑制[J].控制理论与应用,2009,26(2):209-214.TANG G Y,LEI J,SUN L.Observer-based optimal disturbance-rejection for linear systems with time-delay in control action[J].Control Theory & Applications,2009,26(2):209-214(in Chinese).
[14] MATEJICKOVA K,BAKOSOVA M.Robust PI controller desing for a time-delay process[C]//Proceedings of 2013 International Conference on Process Control.Piscataway:IEEE Press,2013:480-485.
[15] KIM I H,JEONG G J,SON Y I.An adaptive output feedback control for time-delay systems with input disturbance[C]//Proceedings of ICROS-SICE International Joint Coferenece 2009.Piscataway:IEEE Press,2009:1742-1746.
[16] NATORI K.A design method of time-delay systems with communication disturbance observer by using Padé approximation[C]//Proceedings of 2012 12th IEEE International Workshop on Advanced Motion.Piscataway:IEEE Press,2012:1-6.
[17] QIAN W M,HUANG R,HU H Y,et al.Active flutter suppression of a multiple-actuated-wing wind tunnel model[J].Chinese Journal of Aeronautics,2014,27(6):1451-1460.
[18] 吕志民,周茂林.使用Padé近似式处理数字控制系统中的纯滞后[J].中山大学学报,2001,40(1):114-115.LÜ Z M,ZHOU M L.Manipulation of the pure time delay in digital control system applying Padé approximation[J].Acta Scientiarum Naturalium University Sunyatseni,2001,40(1):114-115(in Chinese).
[19] DORF R C,BISHOP R H.Modern control systems[M].12th ed.Upper Saddle River:Prentice Hall,2010:835-908.
[20] OGATA K.Modern control engineering[M].5th ed.Upper Saddle River:Prentice Hall,2010:751-805.
[21] 黄超.柔性飞翼飞机颤振主动抑制系统建模、设计与验证[D].北京:北京航空航天大学,2018:95-99.HUANG C.Modeling,design,and verification of active flutter suppression system acting on flexible flying-wing aircraft[D].Beijing:Beihang University,2018:95-99(in Chinese).
[22] 熊纲,杨超.平衡截断法在气动伺服弹性系统模型降阶中的应用[J].航空学报,2001,22(2):168-170.XIONG G,YANG C.Application of balanced truncation method on aeroservoelastic model reduction[J].Acta Aeronautic et Astronautica Sinica,2001,22(2):168-170(in Chinese).
[23] 尤明,宗群,曾凡琳,等.基于平衡截断方法的高超声速飞行器模型降阶[J].控制理论与应用,2014,31(6):795-800.YOU M,ZONG Q,ZENG F L,et al.Model order reduction for hypersonic vehicle based on balanced truncate method[J].Control Theory & Applications,2014,31(6):795-800(in Chinese).
[24] 朱盟,曹国武,张志伟,等.基于Levy法的气动舵机系统辨识[J].弹箭与制导学报,2011,31(6):69-72.ZHU M,CAO G W,ZHANG Z W,et al.The system identification of pneumatic actuator based on Levy method[J].Journal of Projectiles,Rockets,Missiles and Guidance,2011,31(6):69-72(in Chinese).
[25] KARPEL M,MOULIN B.Dynamic response of aeroservoelastic systems to gust exicitation[J].Journal of Aircraft,2005,42(5):1264-1272.
[26] 肖叶伦,金长江.大气扰动中的飞行原理[M].北京:国防工业出版社,1993:116-181.XIAO Y L,JIN C J.Flight principle in atmosphere disturbance[M].Beijing:National Defense Industry Press,1993:116-181(in Chinese).
[27] LEHTOMAKI N,SANDELL N,ATHANS M.Robustness results in linear-quadratic Gaussian based multivariable control designs[J].IEEE Transactions on Automatic Control,1981,26(2):75-93.

考虑舵机时滞的阵风减缓主动控制律设计

Design of gust alleviation active control law considering time-delay of servo actuator

RichHTML

PDF (PC)

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价

[1]	李俊, 江振宇. 一种高超声速滑翔再入在线轨迹规划算法[J]. 北京航空航天大学学报, 2020, 46(3): 579-587.
[2]	陈金鹤, 汪正中, 马玉杰. 倾转旋翼机低速回避区研究[J]. 北京航空航天大学学报, 2019, 45(11): 2184-2192.
[3]	严旭飞, 陈仁良. 直升机尾桨完全失效后自转着陆轨迹优化[J]. 北京航空航天大学学报, 2018, 44(6): 1203-1212.
[4]	郭民环, 苏岩, 朱欣华. 带吊挂负载的四旋翼无人机滚动纳什控制[J]. 北京航空航天大学学报, 2018, 44(11): 2343-2349.
[5]	王超伦, 薛林, 闫晓勇. 考虑机动效率的多约束导引律设计[J]. 北京航空航天大学学报, 2017, 43(8): 1594-1601.
[6]	宋晨, 王诗其, 杨超. 基于滑模观测器的机翼颤振主动抑制设计[J]. 北京航空航天大学学报, 2017, 43(6): 1098-1104.
[7]	赵国伟, 李德金, 宋婷, 武海雷. 常值推力下面内轨道优化的一种改进间接法[J]. 北京航空航天大学学报, 2017, 43(5): 894-901.
[8]	杨俊斌, 吴志刚, 戴玉婷, 马成骥, 杨超. 飞翼布局飞机阵风减缓主动控制风洞试验[J]. 北京航空航天大学学报, 2017, 43(1): 184-192.
[9]	张振, 李海军, 诸德放. EHA反馈线性化最优滑模面双模糊滑模控制[J]. 北京航空航天大学学报, 2016, 42(7): 1398-1405.
[10]	唐波, 吴志刚, 杨超, 马成骥. 特种风洞试验中气动伺服弹性失稳故障分析[J]. 北京航空航天大学学报, 2016, 42(5): 999-1007.
[11]	杨丁, 刘明, 杨凌霄, 杨明, 葛亚杰. 升力体飞行器能量近似最优倾斜转弯飞行策略[J]. 北京航空航天大学学报, 2016, 42(11): 2540-2547.
[12]	齐彧, 孙俊, 师鹏, 赵育善. 航天器相对运动地面动力学实验研究[J]. 北京航空航天大学学报, 2016, 42(10): 2118-2129.
[13]	胡春鹤, 陈宗基. 基于Helly定理的多智能体最短时间一致性[J]. 北京航空航天大学学报, 2015, 41(9): 1701-1707.
[14]	傅莉, 谢福怀, 孟光磊, 王东政. 基于滚动时域的无人机空战决策专家系统[J]. 北京航空航天大学学报, 2015, 41(11): 1994-1999.
[15]	彭坤, 果琳丽, 向开恒, 王平, 徐世杰. 基于混合法的月球软着陆轨迹优化[J]. 北京航空航天大学学报, 2014, 40(7): 910-915.