基于改进定点二乘的重复使用助推飞行器控制分配研究

电子与自动控制

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基于改进定点二乘的重复使用助推飞行器控制分配研究

许江涛¹, 崔乃刚², 陈阳阳¹, 吴限德¹, 韩宇²

1. 哈尔滨工程大学航天工程系, 黑龙江哈尔滨 150001;
2. 哈尔滨工业大学航天工程系, 黑龙江哈尔滨 150001

收稿日期:2011-11-27 修回日期:2012-01-05 出版日期:2012-12-25 发布日期:2012-12-24
通讯作者: 许江涛 E-mail:hit_xjt@163.com
作者简介:许江涛男, 博士, 副教授。主要研究方向: 飞行器动力学与控制, 导航、制导与控制, 系统辨识。Tel: 0451-82589025 E-mail: hit_xjt@163.com
基金资助:
中国博士后科学基金(20110491028); 中央高校基本科研业务费(重点支持研究项目)(HEUCFZ1126)

Research on Control Allocation Based on Improved Fixed-point for Reusable Boosted Vehicle

XU Jiangtao¹, CUI Naigang², CHEN Yangyang¹, WU Xiande¹, HAN Yu²

1. Department of Astronautics, Harbin Engineering University, Harbin 150001, China;
2. Department of Astronautics, Harbin Institute of Technology, Harbin 150001, China

Received:2011-11-27 Revised:2012-01-05 Online:2012-12-25 Published:2012-12-24
Supported by:
China Postdoctoral Science Foundation (20110491028); Central University Foundation of Basic Scientific Research(HEUCFZ1126)

摘要/Abstract

摘要：

为适应重复使用助推飞行器(RBV)控制精度和控制可靠性等要求,导致多异类执行机构数量的急剧增加,而各执行机构偏转角、偏转角速率和非连续工作方式的限制影响控制效果。为满足该类飞行器控制系统实时性和控制精度等需求,需要研究计算精度、计算效率更高的控制分配(CA)方法。根据每次迭代所需的浮点运算量,在比较基于二次规划的控制分配算法计算效率的基础上,首先,利用最小代价函数关系将传统定点(FP)二乘优化算法转化为二次规划问题,并给出传统定点二乘优化方法最优解应满足的条件;然后,针对执行机构饱和情况,提出了改进定点(IFP)二乘的控制分配算法以提高计算效率,同时给予详细的推导证明,并基于迭代常数映射的特性,以相邻时刻控制量差的范数达到相关要求给出改进算法的迭代终止条件;最后,基于多种控制分配算法,对所提出的控制分配算法进行了比较仿真,验证该算法的有效性和合理性。

关键词: 重复使用助推飞行器, 控制分配, 改进定点二乘算法, 执行机构, 飞行控制

Abstract:

To satisfy the control accuracy and reliability demands of reusable boosted vehicles (RBV), there appears a number of different kinds of redundant actuators. However, the limitations of the deflection angle, angular rate and non-continuous working mode affect their control effect. To meet the real-time demands of control systems and control precision, it is imperative to study control allocation (CA) algorithms with higher calculation accuracy and efficiency. This paper makes a comparison of the computational efficiency of control allocation algorithms based on quadratic programming by using the number of flops required at each iteration, First, the conventional fixed-point (FP) algorithm is transformed to quadratic programming, and the satisfying conditions of the optimal solutions for the conventional fixed-point method are given. Secondly, according to actuator saturation, an improved fixed-point (IFP) control allocation algorithm is proposed to improve calculation efficiency, and its detailed proof is given. Based on the characteristics of iteration constant mapping, the norm of the control variable errors between two adjacent moments must meet the related requirements before the termination conditions of the iteration are reached. Finally, simulation based on various control allocation algorithms verifies the validity and rationality of the proposed algorithm.

Key words: reusable boosted vehicle, control allocation, improved fixed-point algorithm, actuators, flight control

中图分类号:

V448.2

许江涛, 崔乃刚, 陈阳阳, 吴限德, 韩宇. 基于改进定点二乘的重复使用助推飞行器控制分配研究[J]. 航空学报, 2012, 33(12): 2268-2278.

XU Jiangtao, CUI Naigang, CHEN Yangyang, WU Xiande, HAN Yu. Research on Control Allocation Based on Improved Fixed-point for Reusable Boosted Vehicle[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2012, 33(12): 2268-2278.

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E-mail：hkxb@buaa.edu.cn

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主管单位：中国科学技术协会主办单位：中国航空学会北京航空航天大学

基于改进定点二乘的重复使用助推飞行器控制分配研究

Research on Control Allocation Based on Improved Fixed-point for Reusable Boosted Vehicle

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