基于滚动时域的舰载机甲板运动轨迹跟踪最优控制

doi:10.7527/S1000-6893.2019.22842

电子电气工程与控制

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基于滚动时域的舰载机甲板运动轨迹跟踪最优控制

刘洁¹, 韩维¹, 徐卫国², 刘纯³, 袁培龙¹, 陈志刚⁴, 彭海军⁵

1. 海军航空大学, 烟台 264001;
2. 陆军航空兵研究所, 北京 101121;
3. 航空工业洪都650飞机设计研究所, 南昌 330024;
4. 中国空气动力研究与发展中心, 绵阳 621000;
5. 大连理工大学工程力学系, 大连 116024

收稿日期:2018-12-10 修回日期:2018-12-27 出版日期:2019-08-15 发布日期:2019-01-18
通讯作者: 刘洁 E-mail:liuyexiaobai@126.com

Optimal path tracking control of carrier-based aircraft on the deck based on RHC

LIU Jie¹, HAN Wei¹, XU Weiguo², LIU Chun³, YUAN Peilong¹, CHEN Zhigang⁴, PENG Haijun⁵

1. Navy Aviation University, Yantai 264001, China;
2. Army Aviation Institute, Beijing 101121, China;
3. 650 Aircraft Design Institute of AVIC Hongdu, Nanchang 330024, China;
4. China Aerodynamics Research & Development Center, Mianyang 621000, China;
5. Department of Engineering Mechanics, Dalian University of Technology, Dalian 116024, China

Received:2018-12-10 Revised:2018-12-27 Online:2019-08-15 Published:2019-01-18

摘要/Abstract

摘要： 针对单机滑行、无杆牵引系统以及有杆牵引系统的轨迹跟踪问题进行了研究。首先，将这3种系统的轨迹跟踪问题转化为最优控制问题，并建立了连续非线性舰载机系统的轨迹跟踪模型。然后，基于第3类生成函数，提出了适用范围更广的全状态保辛伪谱算法，并结合滚动时域理论提出了基于滚动时域（RHC）的在线跟踪最优控制方法，证明了所提算法是一种保辛算法。基于所提出的在线跟踪算法，对单机滑行、无杆牵引系统、有杆牵引系统在存在初始偏差和持续外界扰动情况下的轨迹跟踪问题分别进行了研究，并与BackwardSweep方法进行对比分析，结果表明本文所提出的跟踪算法可以有效地解决具有控制约束和状态约束的轨迹跟踪问题，并可以更高的跟踪精度和计算效率对标准轨迹进行跟踪，可完全满足实时跟踪的要求。最后，分别从初始偏差和持续外界扰动的角度研究了这3种不同方式的跟踪特性。

关键词: 舰载机, 轨迹跟踪控制, 保辛伪谱算法, 滚动时域(RHC), 最优控制

Abstract: In this paper, the path tracking problems of single aircraft, towed system without drawbar, and towed system with drawbar were studied. Firstly, the path tracking problems of the three systems were transformed into optimal control problems, and acontinuous nonlinear path tracking model was established. Then, based on the third generation function, afull state symplectic pseudospectral method with a wider range of applicability was proposed. Combined with the theory of Receding Horizon Control(RHC), an online tracking optimal control method was proposed, and the proposed method was proved to be a symplectic preserving algorithm. Based on the proposed online tracking algorithm, the path tracking problem of the single aircraft, towed system without drawbar, and towed system with drawbar in the presence of initial deviations and continuous disturbances of were studied respectively. Compared with the BackwardSweep method, the results show that the proposed tracking method can effectively solve the tracking problem with control constraints and state constraints, and it's of higher tracking accuracy and computation efficiency, fully meeting the requirements of real-time tracking. Finally, the tracking characteristics of these three different modes were studied from the perspective of initial deviation and continuous external disturbance.

Key words: carrier-based aircraft, path tracking, symplectic pseudospectral method, Receding Horizon Control(RHC), optimal control

中图分类号:

V271.4

刘洁, 韩维, 徐卫国, 刘纯, 袁培龙, 陈志刚, 彭海军. 基于滚动时域的舰载机甲板运动轨迹跟踪最优控制[J]. 航空学报, 2019, 40(8): 322842-322842.

LIU Jie, HAN Wei, XU Weiguo, LIU Chun, YUAN Peilong, CHEN Zhigang, PENG Haijun. Optimal path tracking control of carrier-based aircraft on the deck based on RHC[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2019, 40(8): 322842-322842.

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基于滚动时域的舰载机甲板运动轨迹跟踪最优控制

Optimal path tracking control of carrier-based aircraft on the deck based on RHC

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