航空学报 > 2014, Vol. 35 Issue (7): 1941-1956   doi: 10.7527/S1000-6893.2013.0485

运输机超低空重装空投抗侧风三维非线性控制律设计

辛琪, 史忠科   

  1. 西北工业大学 自动化学院, 陕西 西安 710072
  • 收稿日期:2013-10-10 修回日期:2013-12-04 出版日期:2014-07-25 发布日期:2013-12-14
  • 通讯作者: 史忠科,Tel.:029-88491975E-mail:zkeshi@nwpu.edu.cn E-mail:zkeshi@nwpu.edu.cn
  • 作者简介:辛琪男,博士研究生。主要研究方向:飞行动力学、飞行安全和飞行控制。Tel:029-88431323E-mail:jiufengxin@126.com史忠科男,博士,教授,博士生导师。主要研究方向:飞行试验、系统辨识与非线性控制。Tel:029-88491975E-mail:zkeshi@nwpu.edu.cn
  • 基金资助:

    国家自然科学基金(61134004)

Design of Three Dimensional Nonlinear Controller for Transport Aircraft Airdropping Heavy Cargos at Extremely Low-altitude Under Crosswind

XIN Qi, SHI Zhongke   

  1. School of Automation, Northwestern Polytechnical University, Xi'an 710072, China
  • Received:2013-10-10 Revised:2013-12-04 Online:2014-07-25 Published:2013-12-14
  • Supported by:

    National Natural Science Foundation of China (61134004)

摘要:

针对大型运输机侧风环境下超低空空投重型货物的瞬间受到三维突变和不确定干扰问题,提出一种基于四级复合控制的运输机三维控制律设计方法。在考虑侧风和地效不确定因素的基础上,建立了空投过程的不确定突变模型;为了保证飞行安全,采用四级复合方法设计了三维控制律:先逐层设计位置回路的虚拟指令,使位置、航迹和姿态的偏差向内逐层传递,再设计舵面和油门控制量消除位置和空速回路的偏差。在弱不确定性条件下,证明了控制系统的闭环稳定性。仿真结果表明,所提控制律可保证运输机侧风环境下超低空重装空投的安全性。

关键词: 运输机, 空投, 不确定性, 突变, 三维控制律, 侧风, 地效

Abstract:

Large transport aircraft suffer from catastrophes and uncertainties in both longitudinal and lateral directions at the moment of airdropping heavy cargos at extremely low-altitude under a crosswind. A three dimensional nonlinear controller for transport aircraft airdropping cargos is investigated. Taking the crosswind and the ground effect into account, the airdropping dynamics including catastrophes and uncertainties is established. To ensure flight safety, a three dimensional controller is proposed by a fourth-order compound approach. The virtual commands for the position loop are given gradually to cause the errors of the position, the flight path and the attitude to propagate toward the inner loop. Subsequently, the control surface and the throttle setting are designed to eliminate the errors of both the position and air speed loops. The closed loop stability of the control system under weak uncertainties is analyzed. Simulations show that the proposed controller can ensure the flight safety for transport aircraft airdropping heavy cargos at extremely low-altitudes under a crosswind.

Key words: transport aircraft, airdropping, uncertainty, catastrophe, three dimensional control law, crosswind, ground effect

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