考虑功率约束的控制分配方法

摘要

A control method dealing with allocation problem under both the constraint of actuator system and restricted power situation of hydraulic resources is presented. The control system is divided into control law and control allocation. The former one is based on dynamic inverse law to track the command given to the whole control system. The latter one, aiming at allocating the control efforts between actuators, makes use of mapping from torque variables as output of control law to command given to each actuator or control surface. In this allocation method, the problem is formulated with quadratic programming as a minimal power optimization problem considering position or rate limits of actuators. This kind of numerical method can give a convergence result when allocation is feasible. The experimental result shows that this control allocation method can reach the desired command even with the limitation of actuators, and make the power consume to be minimum, thus guaranteeing the stability and safety of actuator system.%根据飞机作动系统的工作原理,针对液压源能量有限的现状,提出作动系统的功率约束条件.同时考虑操纵面的物理约束,提出了功率受限的操纵面控制分配问题,并给出相应的解决方案.功率受限的操纵面控制分配方法将控制律设计与操纵面任务分配分割为两个模块独立运行,以动态逆控制律为基础,建立控制指令和操纵面间的动态映射关系,考虑操纵面的物理约束并以功率最小作为优化指标,将控制分配问题转化为一个二次规划问题,通过数值求解实现控制系统功率受限下的控制分配.仿真结果表明,考虑功率约束的控制分配方法,可以在系统满足一定稳定性及飞行品质要求的前提下,分配和管理多个冗余操纵面达到指令要求,同时实现系统消耗总功率最小,保证了作动系统的稳定性与安全性.