基于控制力矩陀螺的BTT飞行器协调转弯控制

doi:10.7527/S1000-6893.2017.321096

电子电气工程与控制

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基于控制力矩陀螺的BTT飞行器协调转弯控制

赵坤, 曹登庆, 黄文虎

哈尔滨工业大学航天学院, 哈尔滨 150001

收稿日期:2017-01-03 修回日期:2017-04-16 出版日期:2017-09-15 发布日期:2017-05-08
通讯作者: 曹登庆 E-mail:dqcao@hit.edu.cn
基金资助:
国家自然科学基金（91216106）

Coordinated turn of BTT vehicle based on control moment gyroscopes

ZHAO Kun, CAO Dengqing, HUANG Wenhu

School of Astronautics, Harbin Institute of Technology, Harbin 150001, China

Received:2017-01-03 Revised:2017-04-16 Online:2017-09-15 Published:2017-05-08
Supported by:
National Natural Science Foundation of China (91216106)

摘要/Abstract

摘要：

针对倾斜转弯（BTT）飞行器进行横向机动时会产生侧滑角的问题，提出一种考虑通道耦合因素的协调转弯控制方法。采用了一种基于单框控制力矩陀螺（SGCMG）的侧滑角抑制执行机构来替代方向舵、矢量推力发动机等传统执行机构。建立了加装控制力矩陀螺的BTT飞行器横向机动时的多变量强耦合非线性倾斜转弯动力学模型。根据BTT飞行器横向机动时的协调转弯要求，设计了一种基于非线性反馈和线性二次型最优算法的解耦综合控制器。计算结果表明：协调转弯控制系统可实现滚转角指令的良好跟踪和侧滑角的有效抑制。

关键词: 倾斜转弯(BTT)飞行器, 协调转弯, 控制力矩陀螺, 侧滑角抑制, 非线性反馈, 线性二次型调节器

Abstract:

A coordinated turn control approach that takes coupling factors between channels into account is proposed for the problem on the sideslip angle introduced by the lateral maneuvering of the Bank-To-Turn (BTT) vehicle. A suppression actuator for the sideslip angle based on the Single Gimbal Control Moment Gyroscope (SGCMG) is put forward to replace traditional actuators, such as rudder, vector thrust engine, etc. A multivariable and strong coupling nonlinear BTT dynamical model is established for the case of lateral maneuvering of the BTT vehicle installed with a control moment gyroscope. According to the requirement of coordinated turning of BTT vehicle in lateral maneuvering, a decoupling control law based on feedback linearization and linear quadratic optimal algorithm is developed. Numerical results show that the coordinated turn control law is valid for tracking of the roll angle and active suppressing of the sideslip angle.

Key words: Bank-To-Turn (BTT) vehicle, coordinate turn, control moment gyroscope, sideslip angle suppression, feedback non-linearization, linear quadratic regulator

中图分类号:

V249.1

赵坤, 曹登庆, 黄文虎. 基于控制力矩陀螺的BTT飞行器协调转弯控制[J]. 航空学报, 2017, 38(9): 321096-321096.

ZHAO Kun, CAO Dengqing, HUANG Wenhu. Coordinated turn of BTT vehicle based on control moment gyroscopes[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2017, 38(9): 321096-321096.

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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

基于控制力矩陀螺的BTT飞行器协调转弯控制

Coordinated turn of BTT vehicle based on control moment gyroscopes

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