|
|
论文:2022,Vol:40,Issue(5):1030-1038 |
|
|
引用本文： |
|
|
李煜, 刘小雄, 黄伟, 李珂澄, 明瑞晨, 章卫国. 面向重心、质量变化的自适应飞行控制律设计与半物理实时仿真验证[J]. 西北工业大学学报 |
|
|
LI Yu, LIU Xiaoxiong, HUANG Wei, LI Kecheng, MING Ruichen, ZHANG Weiguo. Design of adaptive flight control law for center of gravity and mass variation and HIL real-time simulation verification[J]. Journal of Northwestern Polytechnical University |
|
|
|
|
|
|
|
| 面向重心、质量变化的自适应飞行控制律设计与半物理实时仿真验证 |
|
| 李煜1,2, 刘小雄1,2, 黄伟1,2, 李珂澄1,2, 明瑞晨1,2, 章卫国1,2 |
|
1. 西北工业大学 自动化学院, 陕西 西安 710129;
2. 陕西省飞行控制与仿真技术重点实验室, 陕西 西安 710129 |
| 摘要: |
| 考虑到重心、质量变化对飞行器动态的影响,提出一种非线性L1自适应控制方法,并应用此方法设计飞行控制器,达到提高飞控系统对重心、质量变化扰动鲁棒性的目标。该方法在L1自适应控制的基础上引入反馈线性化策略,用于消除飞行器已知非线性动态,并实现飞行器状态的快速解耦。提出的非线性L1自适应控制解决了常规L1自适应控制因克服自身已知非线性而导致鲁棒性不足的问题,进而提高控制器对外部扰动的鲁棒性。此外,应用改进的分段常数设计自适应律提高扰动的估计精度。在硬件在环的飞行控制半物理实验平台下验证所设计的飞行控制律的控制性能与鲁棒性。实验结果表明,基于非线性L1自适应设计的飞行控制律具有强大的鲁棒性,能够有效克服飞行过程中重心、质量突变对飞机的影响,在保证飞机稳态性能的同时,兼顾了飞机的瞬态性能。 |
| 关键词:
非线性L1自适应控制
飞行控制系统
重心、质量变化
硬件在环的半物理实验
改进的分段常数自适应律
|
|
| Design of adaptive flight control law for center of gravity and mass variation and HIL real-time simulation verification |
|
| LI Yu1,2, LIU Xiaoxiong1,2, HUANG Wei1,2, LI Kecheng1,2, MING Ruichen1,2, ZHANG Weiguo1,2 |
|
1. School of Automation, Northwestern Polytechnical University, Xi'an 710129, China;
2. Shaanxi Province Key Laboratory of Flight Control and Simulation Technology, Xi'an 710129, China |
| Abstract: |
| Considering the influence of the center of gravity (CG) and mass variations on flight dynamics, a nonlinear L1 adaptive control approach is presented in this paper and applied to design a flight controller to achieve the aim of improving the robustness of the flight system against sudden changes in the CG. Based on L1 adaptive control, this approach introduces a feedback linearization strategy to eliminate the known nonlinear dynamics of the aircraft and realize the rapid decoupling of the aircraft states. The nonlinear L1 adaptive control also addresses the problem of insufficient robustness in conventional L1 adaptive control due to overcoming its own known nonlinearities, and then improves the robustness to external disturbances. Additionally, the modified piecewise constant is employed to design the adaptive law to improve the estimation accuracy. Finally, the control performance and robustness of the designed flight control law are verified in the hardware in the loop (HIL) flight control semi-physical experimental platform. Experimental results indicate that the nonlinear L1 adaptive flight control law has strong robustness, which can effectively overcome the disturbance of the CG and mass sudden variations. Moreover, the designed controller takes into account the transient performance while ensuring the steady-state performance of the aircraft with CG change. |
| Key words:
nonlinear L1 adaptive control
flight control system
center of gravity variations
hardware in the loop experiment
modified piecewise constant adaptive law
|
|
| 收稿日期: 2021-12-22
修回日期:
|
| DOI: 10.1051/jnwpu/20224051030 |
| 基金项目: 国家自然科学基金(62073266)与航空科学基金(201905053003)资助 |
| 通讯作者: 刘小雄(1973-),西北工业大学副教授,主要从事导航制导与控制研究。e-mail:liuxiaoxiong@nwpu.edu.cn
Email：liuxiaoxiong@nwpu.edu.cn |
| 作者简介: 李煜(1994—),西北工业大学博士研究生,主要从事飞行控制与控制方法研究。
|
|
| 相关功能 |
|
|
|
|
| 作者相关文章 |
|
| 李煜 在本刊中的所有文章 |
| 刘小雄 在本刊中的所有文章 |
| 黄伟 在本刊中的所有文章 |
| 李珂澄 在本刊中的所有文章 |
| 明瑞晨 在本刊中的所有文章 |
| 章卫国 在本刊中的所有文章 |
|
|
|
|
|
|
|
|
参考文献: |
|
|
[1] 张晶,申功璋,杨凌宇.面向重心变化的自适应飞行控制系统设计[J].北京航空航天大学学报, 2012, 38(3):314-318 ZHANG Jing, SHEN Gongzhang, YANG Lingyu. Design of adaptive flight control system for aircraft with center of gravity variations[J]. Journal of Beijing University of Aeronautics, 2012, 38(3):314-318(in Chinese)
[2] 杨晓科,杨凌宇,张晶,等.变质量/重心飞机建模及姿态控制律设计[J].北京航空航天大学学报, 2011, 37(1):54-57 YANG Xiaoke, YANG Lingyu, ZHANG Jing, et al. Modeling and attitude control of a aircraft with variations in mass or center of gravity[J]. Journal of Beijing University of Aeronautics, 2011, 37(1):54-57(in Chinese)
[3] 韩婵,杨凌宇,张晶.面向重心变化的预估模型参考自适应控制器设计[C]//第三十二届中国控制会议, 2013 HAN Chan, YANG Lingyu, ZHANG Jing. A predictor-based model reference adaptive controller for aircraft with center of gravity variations[C]//32nd Chinese Control Conference, 2013(in Chinese)
[4] LI Yu, LIU Xiaoxiong, LU Peng, et al. Angular acceleration estimation-based incremental nonlinear dynamic inversion for robust flight control[J]. Control Engineer Practice, 2021, 117:104938
[5] CAO C, HOVAKIMYAN N. Design and analysis of a novel L1 adaptive controller, part I:control signal and asymptotic stability[C]//American Control Conference, 2006:3397-3402
[6] MA Tong, CAO Chengyu. L1 adaptive control for general partial differential equation (PDE) systems[J]. International Journal of General Systems, 2019, 48(5/6):656-689
[7] CHOE R, XARGAY E, HOVAKIMYAN N. L-1 adaptive control for a class of uncertain nonaffine-in-control nonlinear systems[J]. IEEE Trans on Automatic Control, 2016, 61(3):840-846
[8] LIU Xiaoxiong, LI Yu, MA Qingyuan, et al. Gust alleviation controller for elastic aircraft based on L1 adaptive control[C]//Chinese Automation Congress, Jinan, 2017:5382-5385
[9] PARK H, KIM Y. Adaptive fault tolerant flight control for input redundant systems using a nonlinear reference model[J]. IEEE Trans on Aerospace and Electronic Systems, 2021, 57(5):3337-3356
[10] LI Yu, LIU Xiaoxiong, ZHAO Hui, et al. Design of control law for carrier-based aircraft based on L1 adaptive control[C]//2018 IEEE CSAA Guidance, Navigation and Control Conference, 2018:1-6
[11] BACON B J, GREGORY I M. General equations of motion for a damaged asymmetric aircraft[C]//2007 AIAA Atmospheric Flight Mechanics and Exhibit Conference, 2007:63-75
[12] LUO Jie, CAO Chengyu. L1 adaptive control with sliding-mode based adaptive law[J]. Control Theory and Technology, 2015, 13(3):221-229
[13] 李煜,刘小雄,何启志,等.基于改进的分段常数自适应动态逆控制方法研究[J].西北工业大学学报, 2021, 39(1):167-174 LI Yu, LIU Xiaoxiong, HE Qizhi, et al. An adaptive dynamic inversion control method based on improved piecewise constant for flight control system[J]. Journal of Northwestern Polytechnical University, 2021, 39(1):167-174(in Chinese)
[14] Campbell S F, Kaneshige J T. A nonlinear dynamic inversion L1 adaptive controller for a generic transport model[C]//Proc 2010 American Control Conference, 2010:862-867.
[15] 李煜,刘小雄,明瑞晨,等.基于L1自适应结构的动态逆飞行控制方法研究[J].西北工业大学学报, 2021, 39(5):995-1004 LI Yu, LIU Xiaoxiong, MING Ruichen, et al. Robust dynamic inversion control of flight control system based on L1 adaptive structure[J]. Journal of Northwestern Polytechnical University, 2021, 39(5):995-1004(in Chinese) |
|
|
|
|
|
|
|
