一种基于广义逆的无人机鲁棒控制分配方法  

New Algorithm for Robust Control Allocation of UAV Based on Generalized Inverse

作　　者：张艳[1] 陈宗基[1] 魏晨[1] 

机构地区：[1]北京航空航天大学自动化科学与电气工程学院,北京100083

出　　处：《航空学报》2008年第B05期198-203,共6页Acta Aeronautica et Astronautica Sinica

摘　　要：针对无人机广泛采用先进操纵面带来的控制分配问题,提出了基于闭环广义逆的鲁棒控制分配新方案。在基于广义逆的控制分配方法基础上,加入了控制量对应状态的反馈,分析了新方案的可行性,给出了采用新方案后闭环系统稳定的充分必要条件,提出了新的控制分配律设计方法,并研究了闭环系统的稳态特性。数值仿真验证结果表明该方案能够解决先进布局无人机飞行控制系统的控制分配问题,可推广至广义的控制分配领域。For unmanned aerial vehicle＇s （UAV＇s） control allocation problem which arises from the wide use of multiple aero surfaces, a robust algorithm based on closed-loop generalized inverse is proposed. On the basis of general generalized inverse control allocation method, the states corresponding to the commands are fed back to enhance the robustness of the system. Feasibility of the new frame is analyzed, and the sufficient and necessary condition for stability of the closed-loop system is presented. New design method for the new scheme is developed and the steadystate characteristics of the close-loop system are studied in detail. Numerical simulation results demonstrate the stability and robustness of the proposed method, and illustrate its efficiency in solving the control allocation problem for UAV＇s flight control system. The proposed scheme can also be extended to broader field of control allocation because of its satisfactory performance.

关 键 词：控制分配 闭环系统 鲁棒性 广义逆 无人机 

分 类 号：V249[航空宇航科学与技术—飞行器设计]