自适应翼肋的建模与分布式协调控制

摘要

Research on the modeling and distributed cooperative control is carried out for the adaptive ribs actuated by distributed actuator units. By using the method of analytical mechanics, the dynamic model of the adaptive ribs is constructed. Based on this nonlinear interconnected model, by using T-S fuzzy approximation theory, the affine T-S fuzzy interconnected model of adaptive ribs is presented. In order to decouple the controller design conditions, the physic coupled terms in the affine T-S interconnected model are transformed into appropriate forms,and the system is described in the form of spatially interconnected system. Considering there are the nonzero constant terms in the affine T-S fuzzy model,based on the parallel distributed compensation theory,the cooperative control laws with coupled terms and bias terms are proposed, which satisfy a robust performance index. The controller design conditions are described by linear matrix inequalities, which only contain the parameters of a single actuator unit and involve low computation cost. Simulation results show that by using the presented controllers, the rib can achieve desired airfoils under external disturbances, and during the control process the rib shape is kept smooth and continuous.%针对分布式驱动的自适应翼肋进行建模与分布式协调控制研究.基于分析力学的方法建立了自适应翼肋的动力学模型.以这个非线性关联动力学模型为基础,采用Takagi-Sugeno(T-S)模糊逼近理论,建立了自适应翼肋的仿射型T-S模糊关联模型.对仿射型T-S模糊关联模型的物理耦合项进行变换,将系统模型写成空间关联系统的形式,以解耦控制器设计条件.基于并行分配补偿理论,针对系统模型具有耦合项和非零常数项的特点,设计了满足鲁棒性能指标的包含耦合项和偏置项的分布式协调控制器.控制器设计条件具有线性矩阵不等式的形式,并且只包含单个驱动单元的参数,计算量较小.仿真结果表明所设计的自适应翼肋分布式协调控制器,能够在外界扰动作用下使翼肋的形状收敛到期望翼型；翼肋在变形过程中能保持光滑连续的外形.