超低空重装空投纵向自抗扰控制

摘要

针对超低空重装空投过程中,货物的持续移动及瞬间出舱对载机产生的干扰力矩严重影响空投任务的完成性甚至危及飞行安全的问题,提出了一种基于自抗扰理论的超低空空投运输机纵向控制律设计方法.将气动参数摄动、未建模动态等不确定因素都归结为"未知扰动",利用扩张状态观测器对扰动进行实时估计和补偿,实现了飞机内环速度和俯仰角的解耦控制,保证了系统鲁棒性,结合外环PID高度保持控制器完成整个飞行控制系统的设计.数值仿真结果表明,该系统具有良好的响应特性,且对系统不确定性具有较强的鲁棒性.%In order to dealing with the influence on the airdrop task implementation and the flight safety caused by the continuous movement of cargo and its extraction suddenly during the process of ultra-low altitude heavy-cargo airdrop,a control law for longitudinal movement of ultra-low altitude heavy-cargo airdrop based on Active Disturbance Rejection Control (ADRC) theory is designed. Aerodynamic parameter,unmolded dynamics and other uncertain factors are boiled to"unknown disturbance",and which are real-time estimated and compensated through the extent state observer (ESO)to achieve the decoupling control of the velocity and the pitching angle within the inner circle, which guarantees the robustness of the system. Combining with the PID altitude holder for outer ring, the controller realizes the whole control system. The simulation results provide sufficient support to the effectiveness and robustness of this proposed controller.