High-order LADRC based robust coordinated decoupling control for V/STOL aircraft in hover/translation mode
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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。
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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.
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表 1 V/STOL飞机推进系统的参数配置
Table 1. Configured parameters of V/STOL aircraft propulsion system
部件 推力/N
(规定为正)纵向偏转角/(°)
(下偏或后偏为正)侧向偏转角/(°)
(左偏为正)力臂/m
(遵循机体坐标系)矢量尾喷管 TCNmax=80000 δCN∈[0, 90] δCNy∈[－12, 12] xCN=－6.01 升力风扇 TLFmax=89000 δLF∈[－20, 60] δLFy∈[－12, 12] xLF=3.57 滚转控制喷管 TRNmax=17330 xRN=－1.91
yRRN=－yLRN=2
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表 2 V/STOL飞机悬停/平移模式的控制策略
Table 2. Control strategy for V/STOL aircraft in hover/translation mode
控制通道 控制策略 姿态控制 滚转 ①左、右滚转控制喷管之间不同推力的转换 俯仰 ②升力风扇与矢量尾喷管之间不同推力的转换 ③升力风扇与矢量尾喷管在对称平面内的偏转 ④升力风扇与矢量尾喷管之间不同推力的转换与各自的偏转同时作用 偏航 ⑤升力风扇与矢量尾喷管的侧向偏转 位置控制 纵向 ③升力风扇与矢量尾喷管在对称平面内的偏转 侧向 ⑤升力风扇与矢量尾喷管的侧向偏转 法向 ⑥保持飞机俯仰力矩平衡的条件下，改变飞机的总推力 注：对于纵向通道，若仅改变推力的大小，无法实施控制；对于法向通道，若仅改变推力的方向，飞机会掉高度，无法进行有效控制。
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