倾转旋翼机模型缝合鲁棒控制律设计

摘要

The dynamical mathematical flight model of unmanned tilt rotor aircraft is established.The model fusion concept is adopted and the all equinoctial points responses are obtained by using the nonlinear method based on the limited trim points linear model.Therefore, the resolution of the tilt rotor flight dynamics and a multi-model sets are obtained.Furthermore, the study of the rate decouple of MIMO system based on the normalized coprime factorization and H-infinity loop shaping approach, the Hinfinity controller is designed for different flight modes, respectively.Finally, the control law is softswithed by using the weighted sums of the controlled quantity.The simulation results demonstrate that the presented control system is effective by the robust controller.%从研究倾转旋翼机的飞行动力学模型入手,通过引入模型缝合的思想,利用非线性的方法实现由有限固定线性模型拟合任意工作点处的模型响应,提高了倾转旋翼机飞行动力学计算的实时性,并得到多模型控制的模型集;其次基于规范互质分解理论、H∞回路成形设计技术对多输入多输出系统进行通道解耦控制研究,针对不同飞行工况的工作点分别设计H∞回路成形控制器.最后,采用加权求和的控制策略实现控制律的平滑切换,通过仿真验证了设计的多模型控制系统具有良好的控制能力.