混合PID/H_∞鲁棒最小能量飞行控制系统设计  

Design of a New Blended PID/H_∞ Robust and Minimum-Energy Flight Control System

作　　者：韩旭[1] 侯明善[2] 姚成法[1] 

机构地区：[1]西北工业大学航空学院,陕西西安710072 [2]西北工业大学自动化学院,陕西西安710072

出　　处：《西北工业大学学报》2007年第5期681-685,共5页Journal of Northwestern Polytechnical University

基　　金：航空基础科学基金(05D53019)资助

摘　　要：针对系统矩阵和控制矩阵参数不确定性控制问题,提出满足二次稳定和二次性能指标的H∞鲁棒控制器设计方法。以此方法为基础,采用区间模型描述飞行器动力学参数变化特征,给出一种能够满足二次稳定和二次性能指标要求的混合PID/H∞鲁棒最小能量飞行控制系统方案,仿真验证了控制器设计方法和混合PID/H∞鲁棒最小能量飞行控制系统的可行性。Aim. We discuss the robust control problem that requires the simultaneous satisfaction of both quadratic stability and minimum-energy index; then we propose the design of a new blended PID/H∞ robust and minimum-energy flight control system. In the full paper, we explain our discussion and proposal in some detail. In this abstract, we just add some pertinent remarks to the three topics of explanation. The first topic is.. the robust control problem that requires the simultaneous satisfaction of both quadratic stability and minimum-energy index for a system with parameter uncertainties. In the first topic, we give a detailed mathematical discussion; essentially it does two things： （1） the consideration of external disturbance and parameter uncertainties both in system matrix and control matrix; （2） by some transformations, the solution is converted to a standard Hoo control problem and the feedback gain matrix can be easily obtained by solving a Riccati equation. The second topic is： the design of a new blended PID/ H∞ robust and minimum-energy flight control system. In the second topic, we present a new robust flight control structure that includes two loops. The inner loop controller is designed to reject external disturbance and system parameter uncertainties based on our approach. The traditional PID controller is used in the outer loop （Fig. 1 in the full paper）. The third topic is： simulation example. We selected the flight operation states of a UAV （unmanned aerial vehicle） in the simulation for performance comparison. The results （Figs 2 through 5 in the full paper） show preliminarily that the new flight control system has lower control effort, smaller overshoots and shorter setting-time compared with the traditional one.

关 键 词：鲁棒控制 参数不确定性 区间系统 飞行控制系统 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]