平面两自由度变形机翼的动力学建模与控制

摘要

研究一种两自由度平面变形机翼的动力学建模与控制问题.采用分析力学Lagrange方法建立了变形机翼多刚体动力学模型,模型考虑了机翼前缘所受到的空气动力载荷和外部弹性蒙皮等因素.由于变形机翼是一个强耦合、冗余驱动的非线性多输入多输出系统,采用伪逆法设计冗余驱动系统的控制分配器,采用动态逆方法实现系统精确线性化及两自由度的解耦控制,并与传统PID方法相结合构成了冗余驱动变形机翼的控制系统.通过ADAMS动力学仿真,对所建立的动力学方程进行了模型验证,并通过Matlab控制系统仿真,测试了系统的控制性能.研究结果表明,将Lagrange方法、伪逆法、动态逆控制、传统PID方法相结合可以有效解决平面两自由度冗余驱动变形机翼的动力学与控制的基本问题.%The dynamic equation of the morphing wing was obtained based on Lagrange method of analytical mechanics. The skin elastic forces and the aerodynamic load acting on the leading edge were taken into account. Since the morphing wing was a strongly coupled,over-actuated nonlinear system with multi-input and multi-output,a control system of the morphing wing,including control allocator,dynamic inversion controller and PID controllers,was designed. The control allocator was obtained by the pseudo inverse method; the dynamic inversion controller was applied to make the original system decoupled into two independent linear systems; two classical PID controllers were adopted for the linearlized systems. The mathematical model of the morphing wing was verified via ADAMS simulation. The control system was tested by system simulation using Matlab. The results show that the combination of Lagrange equation,pseudo inverse allocation,dynamic inversion control and classical PID method can effectively solve the dynamic modeling and control problems of the in-plane 2-DOF morphing wing.