飞行器多螺旋桨组合悬停优化控制研究

摘要

Lighter than air (LTA) aircraft suffers from the change of model parameters as well as the wind,which makes the hovering control of aircraft a difficulty.To solve these problems,a hovering optimization control method for aircraft was proposed.A multi-propeller vector-thrust aircraft was investigated,and a linear parameter varying (LPV) model was proposed with forward speed as scheduling parameter.The LPV model was transformed to a polytope model with higher order singular value decomposition method to get all weight coefficients of the linear time invariant vertexes.Each vertex's state feedback controller was designed by solving a set of linear matrix inequalities,with the global controller obtained by convex combination.This method significantly simplifies the design of controllers,besides,it guarantees the global system stability.Simulation results prove that this method can successfully track the wind speed and realize hovering.%由于轻于空气(LTA)飞行器在悬停状态具有模型参数时变和易受风场扰动等特点,是飞行器控制的难点.为提高飞行器悬停控制抗风能力,提高飞行器多螺旋桨组合悬停优化控制性能,提出系统LPV多胞模型的建立.以多螺旋桨组合飞行器为对象,以飞行速度为调度参数,建立飞行器的线性变参数(LPV)模型,采用高阶奇异值分解法将LPV模型多胞化并得到各线性时不变顶点(LTI)的权系数函数.将各顶点的H∞状态反馈控制器设计问题转化为一组线性矩阵不等式的求解,再通过顶点权系数凸组合得到满足整个系统工作区间稳定性要求的控制器.上述方法大大简化了控制器设计,且能保证系统全局稳定.仿真结果表明,飞行器能够跟踪所受到的风速,并有效地实现悬停控制.