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摘要:
针对飞机结冰条件下的飞行安全问题，在线性结冰影响模型的基础上构建了非线性结冰影响模型，并建立了结冰飞机纵向非线性动力学模型。利用反馈线性化理论与模糊控制原理相结合，重构设计了结冰条件下的纵向控制律，既保证了动态响应特性，又改善了控制器的抗干扰能力，使飞机具备一定的容冰飞行能力。通过仿真模拟了飞机在不同结冰严重程度以及干扰下的纵向响应，并与常规PID控制进行对比，验证了设计控制律的有效性和抗干扰能力。结果表明，该设计方案下的各状态参数动态响应均能较快较好地收敛，能更精准快速地跟踪俯仰角指令，且抗干扰能力、动态性能均优于常规PID控制。
Abstract:For the flight safety of icing aircraft, the nonlinear icing effect model was built based on the linear icing effect model, and then the nonlinear longitudinal dynamics model of icing aircraft was established. Through the combination of feedback linearization and fuzzy control theory, the reconfigurable design of longitudinal control law under icing condition was completed, which ensures the dynamic response characteristic and promotes the anti-interference ability of the controller, allowing the aircraft to fly under icing condition. The simulation of the aircraft longitudinal dynamic response under various icing severity and interference conditions was carried out, and then by comparison with the conventional PID control, the effectiveness and anti-interference ability of the designed control law are verified. The results show that the dynamic response of each state parameter under the designed control law can converge quickly and greatly and track the pitch angle instructions faster and more accurately. In addition, the anti-interference capability and dynamic performance of the designed control law are better than those of the conventional PID control.
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图 5 模糊控制系统的Simulink仿真结构
Figure 5. Simulink simulation structure of fuzzy control system
图 8 中等程度干扰下结冰飞机纵向响应曲线
Figure 8. Longitudinal response curves of icing aircraft under moderate interference
表 1 纵向飞行品质要求
Table 1. Longitudinal flight quality requirements
标准 界限 上升时间 tr≤5 s 超调量 σ < 20% 稳态误差 ess≤0.1 调节时间 ts≤8 s 短周期阻尼比 0.3≤ζsp≤2 
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表 2 模糊语言规则库
Table 2. Fuzzy language rule base
E NB NM NS ZO PS PM PB NB PB PB PM PM PS ZO ZO NM PB PB PM PS PS ZO NS NS PB PM PM PS ZO NS NS ZO PM PM PS ZO NS NM NM PS PS PS ZO NS NS NM NB PM PS ZO NS NM NM NM NB PB ZO ZO NM NM NM NB NB
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表 3 俯仰角响应的性能品质
Table 3. Performance quality of pitch angle response
性能品质 设计控制律 PID控制 η=0.15 η=0.3 η=0.15 η=0.3 tr/s 0.47 0.51 1.54 1.63 σ/% 0 0 10.29 11.14 ess 0 0 0.02 0.02 ts/s 0.9 0.92 5.23 6.68
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