基于权值优化的多操纵面抗饱和控制分配策略
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摘要
针对多操纵面飞行器难实现协调控制、易陷入舵面饱和的问题,基于权系数空间优化,提出了两类最优抗饱和赋权控制分配策略。研究了加权伪逆和混合优化分配两类方法统一的控制律和共有的权系数优化特性。以实际舵偏误差为变量,分别构造李雅普诺夫函数,沿误差下降的梯度方向推导出保证系统稳定的线性矩阵不等式,以权系数变化最小为目标建立了抗饱和赋权控制分配权系数优化模型。结果表明,该方法在保证精确跟踪主环虚拟控制指令的同时,能够快速地调节操纵面饱和状态下的控制权系数,较好地实现了抗饱和控制。
With regard to the difficulty of cooperating deflection and the easiness of running into saturation for overactuated aircraft,two optimal anti-windup weighted control allocation schemes are proposed based on the dimensional optimization of weight coefficients.After researching the principle of weighted pseudo-inverse and mixed optimization methods,both their uniform control law and mutual optimization characteristics are obtained.The Lyapunov function is defined by taking the actual deflection errors as variables.To ensure the system stability,the linear matrix inequality is deduced by solving the gradient of control errors.Through minimizing the variation of weight coefficients,the optimal anti-windup weighted control allocation model is established.The simulation result shows that proposed control scheme not only can track the main-loop virtual control instruments accurately,but also can adjust the weight coefficients of surfaces under saturated state fast to achieve the anti-windup control.
With regard to the difficulty of cooperating deflection and the easiness of running into saturation for overactuated aircraft,two optimal anti-windup weighted control allocation schemes are proposed based on the dimensional optimization of weight coefficients.After researching the principle of weighted pseudo-inverse and mixed optimization methods,both their uniform control law and mutual optimization characteristics are obtained.The Lyapunov function is defined by taking the actual deflection errors as variables.To ensure the system stability,the linear matrix inequality is deduced by solving the gradient of control errors.Through minimizing the variation of weight coefficients,the optimal anti-windup weighted control allocation model is established.The simulation result shows that proposed control scheme not only can track the main-loop virtual control instruments accurately,but also can adjust the weight coefficients of surfaces under saturated state fast to achieve the anti-windup control.
引文
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[13]陈勇,董新民,薛建平,等.多操纵面飞控系统约束自适应控制分配策略[J].系统工程与电子技术,2011,33(5):1118-1123.CHEN Y,DONG X M,XUE J P,et al.Constrained adaptive control allocation for multi-effector flight control system[J].Systems Engineering and Electronics,2011,33(5):1118-1123.
[14]BORDIGNON K A,DURHAM W C.Closed-form solutions to constrained control allocation problem[J].Journal of Guidance,Control,and Dynamics,1995,18(5):1000-1007.
[15]HARKEGARD O.Backstepping and control allocation with applications to flight control[D].Link9ping,sweden:Link9ping U-niversity,2003.
[2]HAMAYUN M T,EDWARDS C,ALWI H.A fault tolerant control allocation scheme with output integral[J].Automatica,2013,49(6):1830-1837.
[3]LEVINE W S.The control handbook,control system applica-tions[M].2nd.Boca Raton,Florida:CRC Press,2011:250-271.
[4]JI S W,VAN P B,BALACHANDRAN B,et al.Robust control allocation design for marine vessel[J].Ocean Engineering,2013,63(2):105-111.
[5]陈勇,董新民,薛建平,等.赋权控制分配策略的权系数多目标优化设计[J].控制与决策,2013,28(7):991-996.CHEN Y,DONG X M,XUE J P,et al.Multi-objective optimization design of weight coefficients for weighted control allocation scheme[J].Control and Decision,2013,28(7):991-996.
[6]TRISTAN P,ALEJANDRO D.Constrained control design for dynamic positioning of marine vehicles with control allocation[J].Modeling,Identification and Control,2009,30(2):57-70.
[7]TRISTAN P,ALEJANDRO D.Joint motion control and control allocation design for UAS flight control systems[C]∥Proc.of the IEEE Aerospace Conference,2011:1-17.
[8]BOSKOVIC'J D,RAMAN K M.Control allocation in overactuated aircraft under position and rate limiting[C]∥Proc.of the American Control Conference,2002:791-796.
[9]BOSKOVIC'J D,BO L,PRASANTH R,et al.Design of control allocation algorithms for over-actuated aircraft under constraints using LMIs[C]∥Proc.of the 41st IEEE conference on Decision and Control,2002:1711-1716.
[10]KISHORE W C,SEN S,RAY G.Disturbance rejection and control allocation of over-actuated systems[C]∥Proc.of the IEEE International Conference on Industrial Technology,2006:1054-1059.
[11]KRISTOFFER T,PETER S,LEO L,et al.Real-time performance of control allocation for actuator coordination in heavy vehicles[C]∥Intelligent Vehicles Symposium,2009:685-690.
[12]王发威,董新民,王小平,等.基于WPI的多操纵面飞机积分滑模容错控制[J].北京航空航天大学学报,2014,40(10):1378-1385.WANG F W,DONG X M,WANG X P,et al.Fault tolerant control of multi-effectors aircraft using integral sliding model with WPI[J].Journal of Beijing University of Aeronautics and Astronautics,2014,40(10):1378-1385.
[13]陈勇,董新民,薛建平,等.多操纵面飞控系统约束自适应控制分配策略[J].系统工程与电子技术,2011,33(5):1118-1123.CHEN Y,DONG X M,XUE J P,et al.Constrained adaptive control allocation for multi-effector flight control system[J].Systems Engineering and Electronics,2011,33(5):1118-1123.
[14]BORDIGNON K A,DURHAM W C.Closed-form solutions to constrained control allocation problem[J].Journal of Guidance,Control,and Dynamics,1995,18(5):1000-1007.
[15]HARKEGARD O.Backstepping and control allocation with applications to flight control[D].Link9ping,sweden:Link9ping U-niversity,2003.