面向重心变化的自适应飞行控制系统设计

摘要

重心的变化直接影响飞机本身的控制特性,使得控制系统设计更为复杂.针对已有方法模型依赖性强、鲁棒性差的局限性,提出了一种面向重心变化的非线性自适应飞行控制系统设计方法.该方法基于逆动力学理论和重心在线估计系统设计标称控制律,在此基础上引入自适应滑模控制单元来构建自适应补偿控制律,其中滑模控制用于保证控制的鲁棒性和稳定性,而自适应单元则通过对模型不确定性和重心估计误差的估计及补偿提高控制的适应性和控制性能.结合Lyapunov稳定性理论证明了闭环系统的稳定性.仿真结果表明：该方法能有效地实现对系统未知不确定因素的补偿,具有较强的鲁棒性.%Due to the center of gravity varying over a specific range,the aircraft may deviate from its known dynamics,thus bringing special problems to the attitude control system.To overcome the limitation of accurate mathematical model and poor robust performance of conventional methods,a new design approach of adaptive flight control system for aircraft with center of gravity variations was proposed.The base control law was designed based on inverse dynamics and center of gravity estimation.Then the adaptive sliding mode control module was introduced,in which the sliding mode control could guarantee the robustness and stability of closed loop system,and the adaptive module was designed to compensate model uncertainties and estimation error.The stability of closed loop was proved using Lyapunov stability theory.Simulation results demonstrate that the proposed method compensates uncertainties effectively,and its robust performance is also excellent.