带襟翼的飞行器非线性控制系统分析和设计

摘要

以襟翼作为执行机构的面对称飞行器,研究其控制能力和自动驾驶仪设计.襟翼作为执行机构相比传统全动舵缺少方向舵,对缺少方向舵类型的控制方式,推导出此情况下的面对称飞行器动力学模型.基于该模型描述的非线性控制系统,采用微分几何方法进行能控性分析,证明该系统的弱能控性;应用求解状态依赖的Riccati方程方法,以襟翼为执行机构的面对称飞行器,设计非线性最优控制器.仿真结果表明,在系统弱能控性的基础上,设计的控制器能够在缺少方向舵的情况下,使得滚转角和纵向过载快速地跟踪指令.同时验证了飞行器双通道控制的可行性.%The design and controllability of autopilot of surface symmetric aircraft with flaps as actuators are studied.Compared with traditional aircrafts,such an aircraft lacks rudder in its yaw loop while using flaps as actuators.The motion dynamics model of such an aircraft is derived.The differential geometry method is used to analyze the controllability of the nonlinear control system described by this dynamics.This analysis has proved the controllability of the system.Based on the controllability analysis,a nonlinear optimal controller for the nonlinear coupled control system is designed using state-dependent Riccati equation method.Simulated results demonstrate that the roll angle and longitudinal overload can fast track the commands based on the system of weak controllability,and also testify the feasibility of two-channel control of aircraft.