链式平滑切换变体飞行器LPV鲁棒跟踪控制

贾臻; 董朝阳; 王青

doi:10.13700/j.bh.1001-5965.2016.0246

链式平滑切换变体飞行器LPV鲁棒跟踪控制

doi: 10.13700/j.bh.1001-5965.2016.0246

贾臻¹,
董朝阳^1, ,,
王青²

1.
北京航空航天大学航空科学与工程学院, 北京 100083
2.
北京航空航天大学自动化科学与电气工程学院, 北京 100083

基金项目:

国家自然科学基金 61273083

国家自然科学基金 61403028

详细信息

作者简介:
贾臻, 男, 硕士研究生。主要研究方向:切换系统、鲁棒控制、飞行器控制、飞行力学建模

董朝阳, 男, 博士, 教授, 博士生导师。主要研究方向:切换系统、飞行器控制、飞行力学建模

通讯作者:
董朝阳, E-mail:dongchaoyang@buaa.edu.cn

中图分类号: V249.1
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- 文章访问数: 906
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- 被引次数: 0
出版历程
- 收稿日期: 2016-03-29
- 录用日期: 2016-07-01
- 网络出版日期: 2017-04-20

LPV robust tracking control for chain smooth switched morphing aircraft

1.
School of Aeronautic Science and Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China
2.
School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

Funds:

National Natural Science Foundation of China 61273083

National Natural Science Foundation of China 61403028

More Information

Corresponding author: DONG Chaoyang, E-mail: dongchaoyang@buaa.edu.cn

摘要

摘要:
针对后掠角可变的变体飞行器，研究了一类变体飞行器的建模与控制问题。拟合气动参数与后掠角变化的关系，利用Jacobian线性化的方法得到线性变参数（LPV）模型。进一步建立一类平滑切换系统，同时引入切换序列受限的链式切换，推导了链式平滑切换系统在有限时间有界且具有鲁棒性能指标的充分条件。设计了一种平滑切换镇定控制器的求解算法，并给出控制增益的求解步骤。基于广义系统理论提出了保证变体飞行器姿态跟踪系统鲁棒稳定的充分条件，并通过算例验证所提方法有效性。
- 鲁棒控制 /
- 平滑切换 /
- 切换系统 /
- 变体飞行器 /
- 链式切换
Abstract:
Aimed at morphing aircraft with variable sweepback, this paper studies the issue of modeling and control for a class of morphing aircrafts. Fitting the relationship between aerodynamic parameters and sweepback, we developed linear parameter varying (LPV) model by Jacobian linearization approach. Then a smooth switching system approach with limited switching sequence, chain switching, is modeled, and the sufficient conditions are provided to ensure the finite-time boundedness and robust performance index of the chain smooth switched system. A solving algorithm of stabilizer for smooth switching controller is proposed, and the solving steps for gain control are presented. Based on the generalized system theory, the sufficient conditions for robust stability of the attitude tracking system are proposed. The numerical example simulation results are given to illustrate the validity of the devised approach.
- robust control /
- smooth switching /
- switching system /
- morphing aircrafts /
- chain switching

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图 1 迎角响应曲线

Figure 1. Angle of attack response curves

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图 2 俯仰角速率响应曲线

Figure 2. Pitch angle rate response curves

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图 3 油门开度响应曲线

Figure 3. Throttle position response curves

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图 4 升降舵偏角响应曲线

Figure 4. Elevator angle response curves

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图 5 迎角跟踪误差曲线

Figure 5. Angle of attack tracking error curves

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表 1 变体飞行器构型参数

Table 1. Configuration parameters of morphing aircraft

形态	ν/(°)	J_yf/(kg·m²)	m_T/kg	m_w/kg	m_a/kg	x_w/m	x_a/m	B/m	S/m²	c_A/m
巡航	15	3 107.5	907.8	272	26.36	0	-3.2	6.803 3	4.362 1	0.710 1
高速	60	3 107.5	907.8	272	26.36	-0.607 2	3.065 6	3.84	6.079 2	1.911 7
注: ν—后掠角; J_yf—俯仰转动惯量; m_T—总重; m_a—配重；x_a—配重质心位置; B—翼展。

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表 2 切换子系统控制增益矩阵

Table 2. Gain control matrix of switched subsystem

构型	反馈控制增益
构型	K_{x, i}	K_{β, i}
M₁₅
M₂₀
M₂₅
M₃₀
M₃₅
M₄₀
M₄₅
M₅₀
M₅₅
M₆₀

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