一种针对结构损伤的非线性容错飞行控制方法

doi:10.7527/S1000-6893.2015.0139

电子与控制

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一种针对结构损伤的非线性容错飞行控制方法

王乾, 李清, 程农, 宋靖雁

清华大学自动化系, 北京 100084

收稿日期:2015-02-27 修回日期:2015-05-19 出版日期:2016-02-15 发布日期:2015-05-27
通讯作者: 王乾,男,博士研究生。主要研究方向:容错飞行控制,无人机控制。Tel:010-62797972,E-mail:inwq2sky@gmail.com E-mail:inwq2sky@gmail.com
作者简介:李清,男,博士,教授,博士生导师。主要研究方向:飞行控制,飞行管理技术,复杂系统建模与评价。Tel:010-62771152,E-mail:liqing@tsinghua.edu.cn;程农,女,硕士,研究员。主要研究方向:航空电子与飞行管理系统。Tel:010-62797452,E-mail:ncheng@tsinghua.edu.cn;宋靖雁,男,博士,教授,博士生导师。主要研究方向:智能控制,空间机器人技术。Tel:010-62771878,E-mail:jysong@tsinghua.edu.cn
基金资助:
国家自然科学基金(61174168);航空科学基金(20100758002,20128058006)

A nonlinear fault tolerant flight control method against structural damage

WANG Qian, LI Qing, CHENG Nong, SONG Jingyan

Department of Automation, Tsinghua University, Beijing 100084, China

Received:2015-02-27 Revised:2015-05-19 Online:2016-02-15 Published:2015-05-27
Supported by:
National Natural Science Foundation of China(61174168);Aeronautical Science Foundation of China(20100758002,20128058006)

摘要/Abstract

摘要：

飞机结构损伤会引起气动参数变化,进而影响系统的静稳定性和控制精度。针对具有多输入的非线性飞机模型,利用带有二阶命令滤波器的自适应反步控制方法在线估计飞机气动参数,补偿结构损伤导致的气动参数变化对控制系统的影响,以实现容错飞行控制功能;引入的命令滤波器可以避免反步控制中复杂的求导运算。从理论上分析证明了带有二阶命令滤波器的自适应反步控制的闭环系统稳定性,并给出了控制跟踪误差的理论上界和二阶命令滤波器频率参数选取的下界。通过一个大型客机垂直尾翼脱落场景的仿真实验,验证了所提容错控制方法的有效性。

关键词: 结构损伤, 容错飞行控制, 命令滤波器, 自适应反步控制, 非线性控制

Abstract:

Structural damage can affect system static stability and control precision by changing aircraft aerodynamic parameters. A nonlinear fault tolerant flight control scheme against aircraft structural damage is presented, which implements the adaptive backstepping control method with a second-order command filter. The fault tolerant control is applied to a multi-input nonlinear aircraft model. In order to compensate the influence from structural damage, the aircraft aerodynamic parameters are estimated on-line and the controller is adaptively regulated. A command filter is employed to avoid the complex derivative computation in the backstepping method. The stability of the closed-loop system with the command filter is proved. The upper bounds of control tracking errors and the lower bounds of the frequency parameters in the command filters are also analytically presented. The proposed nonlinear fault tolerant control method is verified by a simulation of a large commercial aircraft with loss of the vertical tail.

Key words: structural damage, fault tolerant flight control, command filter, adaptive backstepping control, nonlinear control

中图分类号:

王乾, 李清, 程农, 宋靖雁. 一种针对结构损伤的非线性容错飞行控制方法[J]. 航空学报, 2016, 37(2): 637-647.

WANG Qian, LI Qing, CHENG Nong, SONG Jingyan. A nonlinear fault tolerant flight control method against structural damage[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2016, 37(2): 637-647.

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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

一种针对结构损伤的非线性容错飞行控制方法

A nonlinear fault tolerant flight control method against structural damage

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