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基于受限参变率的飞翼无人机舵面阵风减缓控制

孙逸轩 白俊强 刘金龙 孙智伟

孙逸轩, 白俊强, 刘金龙, 等 . 基于受限参变率的飞翼无人机舵面阵风减缓控制[J]. 北京航空航天大学学报, 2020, 46(7): 1387-1397. doi: 10.13700/j.bh.1001-5965.2019.0435
引用本文: 孙逸轩, 白俊强, 刘金龙, 等 . 基于受限参变率的飞翼无人机舵面阵风减缓控制[J]. 北京航空航天大学学报, 2020, 46(7): 1387-1397. doi: 10.13700/j.bh.1001-5965.2019.0435
SUN Yixuan, BAI Junqiang, LIU Jinlong, et al. Gust alleviation control for flying-wing UAV by control surface based on limited parameter variation rate[J]. Journal of Beijing University of Aeronautics and Astronautics, 2020, 46(7): 1387-1397. doi: 10.13700/j.bh.1001-5965.2019.0435(in Chinese)
Citation: SUN Yixuan, BAI Junqiang, LIU Jinlong, et al. Gust alleviation control for flying-wing UAV by control surface based on limited parameter variation rate[J]. Journal of Beijing University of Aeronautics and Astronautics, 2020, 46(7): 1387-1397. doi: 10.13700/j.bh.1001-5965.2019.0435(in Chinese)

基于受限参变率的飞翼无人机舵面阵风减缓控制

doi: 10.13700/j.bh.1001-5965.2019.0435
详细信息
    作者简介:

    孙逸轩  男, 硕士研究生。主要研究方向:飞行器设计

    白俊强  男, 博士, 教授, 博士生导师。主要研究方向:飞行器气动优化设计、飞行器综合应用、计算流体力学

    刘金龙  男, 硕士研究生。主要研究方向:飞行器设计

    孙智伟  男, 博士研究生。主要研究方向:飞行器设计

    通讯作者:

    白俊强, E-mail: junqiang@nwpu.edu.cn

  • 中图分类号: V221

Gust alleviation control for flying-wing UAV by control surface based on limited parameter variation rate

More Information
  • 摘要:

    飞翼无人机具有俯仰惯量低、纵向稳定性弱等问题,使其阵风响应对飞行参数的变化较为敏感,并且飞翼无人机的舵面较多,不同的控制策略下阵风减缓的效果不同。因此,对这类飞行器进行考虑参数变化率阵风减缓线性变参数(LPV)控制律设计,并对不同舵面组合方式的控制性能展开对比研究。结合参数依赖的Lyapunov函数方法和变参斜投影降阶算法,构建了同时考虑参数变化率限制和模型降阶条件的LPV阵风减缓控制器。基于该方法对Mini-MUTT飞翼无人机模型设计LPV阵风减缓控制器;探究了不同舵面控制策略对减缓效果的影响。结果表明:采用变参斜投影降阶算法得到的降阶模型可有效表征全阶模型的动力学特性;设计的LPV阵风减缓控制器能够保证阵风在较宽速度范围内有效减缓;在单一舵面阵风减缓中,置于外侧的舵面控制效果优于内侧舵面;而在双舵面阵风减缓中,双舵面的控制效果优于单一舵面,但控制所需输入能量也会增加。在工程应用中需要针对具体问题,综合考虑控制效果和能量消耗以确定合适的控制策略。

     

  • 图 1  Mini-MUTT飞翼无人机传感器及舵面配置

    Figure 1.  Sensors and control surface placement of Mini-MUTT flying-wing UAV

    图 2  LPV阵风减缓控制器建模与计算流程

    Figure 2.  LPV gust alleviation controller modelling andcalculation process

    图 3  定义在矩形网格的LPV模型

    Figure 3.  LPV model defined in rectangular grid

    图 4  Hankel奇异值柱状图

    Figure 4.  Histogram of Hankel singular value

    图 5  全阶模型和降阶模型的幅频特性对比

    Figure 5.  Comparison of amplitude-frequency characteristics between full-order and reduced-order model

    图 6  参数轨迹

    Figure 6.  Parameter trajectory

    图 7  全阶模型和降阶模型的阶跃响应对比

    Figure 7.  Comparison of step response between full-order and reduced-order model

    图 8  LPV颤振抑制控制框图

    Figure 8.  LPV control program chart of flutter suppression

    图 9  Dryden阵风模型

    Figure 9.  Dryden gust model

    图 10  调度参数轨迹

    Figure 10.  Trajectory of scheduling parameter

    图 11  开环系统与闭环系统2种舵面输出响应对比

    Figure 11.  Comparison of output response for two kinds of control surface between open-loop and closed-loop system

    图 12  单舵面与双舵面控制输出响应对比

    Figure 12.  Comparison of output responses between single control surface and double control surfaces control

    图 13  单舵面与双舵面控制输出响应功率谱对比

    Figure 13.  Comparison of power spertrum of output responses between single control surface and double control surfaces control

    图 14  单舵面与双舵面控制输入对比

    Figure 14.  Comparison of input between single control surface and double control surfaces control

    表  1  Mini-MUTT飞翼无人机动力学参数[14]

    Table  1.   Dynamic parameters of Mini-MUTT flying-wing UAV[14]

    动力学参数 数值
    刚体机身质量/kg 2.9877
    刚体机身静矩Sx/(kg·m) 0.4270
    刚体机身静矩Sz/(kg·m) 0
    刚体机身惯量Iy/(kg·m2) 0.1994
    机翼总质量/kg 2.397 2
    机翼弯曲刚度EIz/(N·m2) 97.66
    机翼扭转刚度GJx/(N·m2) 56.49
    机翼单位长度质量μ/(kg·m-1) 0.60
    机翼单位长度转动惯量Iwing/(kg·m) 0.0031
    机翼半弦长b/m 0.14
    机翼刚心无量纲距离a -0.0922
    注:EG分别为刚度系数和扭转系数;IzJx分别为机翼截面绕z轴惯性矩和机翼截面绕x轴极惯性矩。
    下载: 导出CSV

    表  2  2种控制方式的幅值减缓率对比

    Table  2.   Comparison of amplitude reduction rate between two control strategies

    控制方式 幅值减缓率/%
    全机俯仰角速度 全机刚体浮沉加速度 翼尖加速度
    外副翼 40.12 35.73 10.56
    襟翼+外副翼 44.86 38.93 11.73
    下载: 导出CSV

    表  3  2种控制形式的能量减缓率对比

    Table  3.   Comparison of energy reduction rate between two control strategies

    能量减缓率 能量减缓率/%
    全机俯仰角速度 全机刚体浮沉加速度 翼尖加速度
    外副翼 58.39 56.92 8.78
    襟翼+外副翼 64.36 61.08 10.56
    下载: 导出CSV
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出版历程
  • 收稿日期:  2019-08-12
  • 录用日期:  2019-11-11
  • 刊出日期:  2020-07-20

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