|
|
论文:2021,Vol:39,Issue(5):995-1004 |
|
|
引用本文： |
|
|
李煜, 刘小雄, 明瑞晨, 孙绍山, 章卫国. 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 |
|
|
LI Yu, LIU Xiaoxiong, MING Ruichen, SUN Shaoshan, ZHANG Weiguo. Robust dynamic inversion control of flight control system based on L1 adaptive structure[J]. Northwestern polytechnical university |
|
|
|
|
|
|
|
| 基于L1自适应结构的动态逆飞行控制方法研究 |
|
| 李煜1,2, 刘小雄1,2, 明瑞晨1,2, 孙绍山3, 章卫国1,2 |
|
1. 西北工业大学 自动化学院, 陕西 西安 710072;
2. 陕西省飞行控制与仿真技术重点实验室, 陕西 西安 710129;
3. 中国航空工业成都飞机设计研究所, 四川 成都 610091 |
| 摘要: |
| 非线性动态逆控制具有很好的快速性和解耦能力，但自身缺乏必要的鲁棒性。因此，从提高动态逆控制方法鲁棒性的角度出发，提出一种动态性能优异、强鲁棒的L1自适应结构的自适应动态逆控制方法。该方法通过引入L1自适应结构来增强动态逆控制的鲁棒性，并且保证系统在扰动干扰下的稳定性和动态性能。基于此方法设计了飞行控制律，旨在提高飞控系统的鲁棒性和容错能力。在故障干扰下验证了所设计控制器的有效性，仿真结果表明基于L1自适应动态逆设计的飞行控制器在参数不确定性等扰动具有强大的鲁棒性，能够保证系统在扰动下依旧达到期望的动态性能。 |
| 关键词:
L1自适应动态逆控制
鲁棒性
稳定性
投影算子
飞行控制系统
控制器设计
|
|
| Robust dynamic inversion control of flight control system based on L1 adaptive structure |
|
| LI Yu1,2, LIU Xiaoxiong1,2, MING Ruichen1,2, SUN Shaoshan3, 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;
3. AVIC Chengdu Aircraft Design and Research Institute, Chengdu 610091, China |
| Abstract: |
| Nonlinear Dynamic Inversion(NDI) control has excellent rapidity and decoupling ability, unfortunately it lacks the essential robustness to disturbance. From the perspective of enhancing the robustness, an adaptive NDI method based on L1 adaptive structure is proposed. The L1 adaptive structure is introduced into the NDI control to enhance its robustness, which also guarantees the stability and expected dynamic performance of the system suffering from the disturbance influence. Secondly, the flight control law of the advanced aircraft is designed based on the present method to improve the robustness and fault tolerance of the flight control system. Finally, the effectiveness of the flight control law based on the present approach is verified under the fault disturbance. The results showed that the flight control law based on L1 adaptive NDI has excellent dynamic performance and strong robustness to parameter uncertainties and disturbances. |
| Key words:
L1 adaptive structure dynamic inversion control
robustness
stability
projection operator
flight control system
controller design
|
|
| 收稿日期: 2021-01-08
修回日期:
|
| DOI: 10.1051/jnwpu/20213950995 |
| 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。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。
|
|
|
|
|
|
|
|
参考文献: |
|
|
[1] RICHARD Colgren, DALE Enns. Dynamic inversion applied to the F-117A[C]//Modeling and Simulation Technologies Conference, 1997
[2] MENON P P, LOWENBERG M H, HERRMANN G, et al. Experimental implementation of a nonlinear dynamic inversion controller with antiwindup[J]. Journal of Guidance Control and Dynamics, 2013, 36(4):1035-1046
[3] LOMBAERTS Thomas, KANESHIGE John, SCHUET Stefan, et al. Dynamic inversion based full envelope flight control for an evtol vehicle using a unified framewor[C]//AIAA Scitech 2020 Forum
[4] LUNGU M. Auto-landing of UAVs with variable centre of mass using the backstepping and dynamic inversion control[J]. Aerospace Science and Technology, 2020, 103:105912
[5] SIMPLICIO P, PAVEL M D, VAN KAMPEN E, et al. An acceleration measurements-based approach for helicopter nonlinear flight control using incremental nonlinear dynamic inversion[J]. Control Engineering Practice, 2013, 21(8):1065-1077
[6] LU Peng, VAN KAMPEN Erikjan, DE VISSER Cornelis, et al. Aircraft fault-tolerant trajectory control using incremental nonlinear dynamic inversion[J]. Control Engineering Practice, 2016, 57:126-141
[7] SIEBERLING S, CHU Q P, MULDER J A, et al. Robust flight control using incremental nonlinear dynamic inversion and angular acceleration prediction[J]. Journal of Guidance Control and Dynamics, 2010, 33(6):1732-1742
[8] TETSUJIRO Ninomiya, YOSHIKAZU Miyazawa. Neural network based adaptive control with hierarchy structured dynamic inversion applied to nonlinear aircraft model[C]//AIAA Guidance, Navigation, and Control Conference, 2010
[9] LAKSHMIKANTH G S, PADHI R, WATKINS J M, et al. Adaptive flight-control design using neural-network-aided optimal nonlinear dynamic inversion[J]. Journal of Aerospace Information Systems, 2014, 11(11):785-806
[10] 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
[11] LI Z, HOVAKIMYAN N. L1 adaptive controller for MIMO systems with unmatched uncertainties using modified piecewise constant adaptation law[C]//IEEE Conference on Decision & Control, 2012:7303-7308
[12] 周艳, 刘慧英, 李靖. 带执行器故障的L1自适应飞行器横侧向容错控制[J]. 西北工业大学学报, 2019, 37(5):937-942 ZHOU Yan, LIU Huiying, LI Jing. L1 adaptive for aircraft lateral fault tolerant control with actuator failure[J]. Journal of Northwestern Polytechnical University, 2019, 37(5):937-942(in Chinese)
[13] 高丽, 吴文海, 梅丹, 等. 侧向自动着舰引导控制L1自适应设计[J]. 飞行力学, 2016(4):41-45 GAO Li, WU Wenhai, MEI Dan, et al. Design of L1 adaptive controller for lateral-directional automatic carrier landing[J]. Flight Dynamics, 2016(4):41-45(in Chinese)
[14] 李煜, 刘小雄, 李吉宽, 等. 基于L1自适应着舰纵向控制与特性分析[J]. 计算机测量与控制, 2018, 26(12):120-124 LI Yu, LIU Xiaoxiong, LI Jikuan, et al. Design the characteristic analysis of L1 adaptive longitudinal control for carrier-based landing[J]. Computer Measurement & Control, 2018, 26(12):120-124(in Chinese)
[15] POMET J B, PRALY L. Adaptive nonlinear regulation:estimation from the Lyapunov equation[J]. IEEE Trans on Automatic Control, 1992, 37(6):729-740
[16] NGUYEN L T, OGBURN M E, GILBERT W P, et al. Simulator study of a stall/post-stall characteristics of a fighter airplane with relaxed longitudinal static stability[R]. TP1538, NASA, Hampton, VA, 1979 |
|
|
|
相关文献: |
|
|
1．张佳龙, 闫建国, 张普, 齐晓巧, 吕茂隆.高速近距无人机协同编队控制器设计研究[J]. 西北工业大学学报, 2018,36(2): 345-352 |
|
|
2．杨立本, 章卫国, 黄得刚, 车军.欠驱动四旋翼飞行器反演模糊自适应控制[J]. 西北工业大学学报, 2015,33(3): 495-499 |
|
|
3．耿峰, 祝小平, 周洲, 孟俊生.一种有效的高速攻击型无人机二自由度PID控制[J]. 西北工业大学学报, 2013,31(1): 1-7 |
|
|
|
|
|
|
