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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

杨阳, 杨超, 吴志刚, 等 . 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. doi: 10.13700/j.bh.1001-5965.2019.0635
引用本文: 杨阳, 杨超, 吴志刚, 等 . 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. doi: 10.13700/j.bh.1001-5965.2019.0635
YANG Yang, YANG Chao, WU Zhigang, et al. 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. doi: 10.13700/j.bh.1001-5965.2019.0635(in Chinese)
Citation: YANG Yang, YANG Chao, WU Zhigang, et al. 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. doi: 10.13700/j.bh.1001-5965.2019.0635(in Chinese)

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
基金项目: 

国家自然科学基金 11672018

详细信息
    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

    通讯作者:

    吴志刚, E-mail: wuzhigang@buaa.edu.cn

  • 中图分类号: V215.3

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

Funds: 

National Natural Science Foundation of China 11672018

More Information
  • 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。

     

  • 图 1  飞翼布局飞机结构模型及传感器舵机布置

    Figure 1.  Structural model of flying-wing aircraft and arrangement of sensors and actuators

    图 2  包含纯时滞模型及2~6阶Padé近似模型的舵机阶跃和频率响应

    Figure 2.  Step and frequency responses of actuator with pure time-delay model and 2~6 order Padé approximation models

    图 3  增稳控制系统结构

    Figure 3.  Stability augment control system

    图 4  阵风减缓主动控制系统

    Figure 4.  Gust alleviation active control system

    图 5  阵风减缓主动控制系统仿真模型

    Figure 5.  Simulation model of gust alleviation active control system

    图 6  舵机的仿真模型

    Figure 6.  Simulation model of actuator

    图 7  气动伺服弹性模型的阵风响应

    Figure 7.  Gust responses of aeroservoelastic model

    图 8  降阶前后控制系统的频率响应

    Figure 8.  Frequency responses of control system before and after order reduction

    图 9  降阶前后系统回差矩阵的最小奇异值

    Figure 9.  Minimum singular value of closed-loop system before and after order reduction

    表  1  阵风响应的均方根及减缓效果

    Table  1.   Root-mean-square of gust responses and effects of gust alleviation

    均方根 3号加速度计处过载/g 4号加速度计处过载/g 翼根弯矩/ (N·m)
    开环响应 0.071 2 0.071 7 2.294 8
    闭环响应 0.058 1 0.062 3 1.645 8
    减缓效率/% 18.39 13.11 28.28
    下载: 导出CSV

    表  2  线性模型和非线性模型的阵风减缓效果

    Table  2.   Gust alleviation effects of linear model and nonlinear model

    阵风响应 减缓效率/%
    线性模型 非线性模型
    3号加速度计处过载 18.40 18.39
    4号加速度计处过载 13.16 13.11
    翼根弯矩 28.30 28.28
    下载: 导出CSV

    表  3  不同Padé近似阶数下所设计控制系统的阵风减缓效果

    Table  3.   Gust alleviation effects of designed control system based on different Padé approximation orders

    近似阶数 减缓效率/%
    3号加速度计处过载 4号加速度计处过载 翼根弯矩
    2 8.57 -0.28 29.73
    4 19.24 13.95 29.46
    6 19.66 14.64 27.67
    8 19.38 14.37 28.86
    10 19.38 14.37 28.39
    下载: 导出CSV

    表  4  控制律降阶对阵风减缓效果的影响

    Table  4.   Effect of order-reduction on gust alleviation

    降阶阶数 减缓效率/%
    3号加速度计处过载 4号加速度计处过载 翼根弯矩
    12
    14 18.39 13.10 28.28
    16 18.40 13.11 28.76
    44 19.24 13.95 29.46
    注:—表示不稳定。
    下载: 导出CSV

    表  5  6阶Padé近似情况下控制律降阶对阵风减缓效果的影响

    Table  5.   Effect of order-reduction on gust alleviation in case of 6-order Padé approximation

    降阶阶数 减缓效率/%
    3号加速度计处过载 4号加速度计处过载 翼根弯矩
    12 7.56 0.50 24.13
    14 11.25 5.43 24.72
    16 19.31 14.22 27.22
    50 19.66 14.64 27.67
    下载: 导出CSV

    表  6  8阶Padé近似情况下控制律降阶对阵风减缓效果的影响

    Table  6.   Effect of order-reduction on gust alleviation in case of 8-order Padé approximation

    降阶阶数 减缓效率/%
    3号加速度计处过载 4号加速度计处过载 翼根弯矩
    12 7.37 12.00 25.04
    14 10.70 4.35 26.09
    16 19.31 14.06 28.22
    56 19.38 14.37 28.86
    下载: 导出CSV
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  • 收稿日期:  2019-12-18
  • 录用日期:  2020-01-21
  • 网络出版日期:  2020-12-20

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