基于H_∞鲁棒控制和EA的平流层验证飞艇姿态控制器设计  

Design of Attitude Controller of Stratospheric Verification Airship Based on Eigenstructure Assignment and Robust Control

作　　者：孙烨[1] 陈澜[1] 王志峰[1] 

机构地区：[1]西北工业大学自动化学院,陕西西安710129

出　　处：《计算机测量与控制》2011年第9期2183-2186,共4页Computer Measurement &Control

基　　金：航空科学基金资助项目(20100753007)

摘　　要：H∞鲁棒控制理论在设计控制系统时,对系统的时域性能未加以考虑,不能保证设计的反馈系统满足期望的时域性能指标;特征结构配置可以依据实际系统的需要配置闭环系统的极点及对应的特征向量,可以满足系统设计对时域指标的要求;为此,基于H∞鲁棒控制和特征结构配置理论,进行了混合优化控制器的设计。将特征结构配置的输出反馈作为内环,将H∞鲁棒控制理论设计的跟踪控制器作为外环,同时兼顾时域与频域性能指标,满足系统对鲁棒性和对指定信号精确跟踪的要求;通过对某平流层飞艇的验证艇的纵向姿态跟踪控制的仿真,结果表明,当选取状态变量v,α,q,θ,eδ,T,eθs,eδ0,T0对应的性能指标系数为c1=0.001,c2=0.001,c3=0.001,c4=0.002,c5=0.002,c6=0.001,c7=0.003,c8=0.01,c9=0.001时,飞艇在有风干扰下仍然能够很好的跟踪输入指令,无稳态误差,调节时间短,仿真效果良好。Robust control theory doesn＇t consider the time--domain performance of the system in the design of control systems, which can not ensure the design of the feedback system meet the expectations of the time--domain performance. Eigenstructure assignment can place closed--loop system poles and the corresponding eigenvectors based on the needs of the actual system, which can satisfy the system design of time--domain specifications. Therefore, an hybrid optimization controller is designed based on robust control and eigenstructure assignment theory in this paper. Making eigenstructure assignment output feedback as the inner loop, the tracking controller designed of robust control theory as the outer loop, meet the requirements of system to robust and accurate tracking of the specified in the signal, which considers performance specifications of time domain and frequency domain simultaneously. In the end of the paper, a simulation of an stratospheric verification airship vertical attitude control is given. The simulation results indicate it is good that choose c1=0.001,c2=0.001,c3=0.001,c4=0.002,c5=0.002,c6=0.001,c7=0.003,c8=0.01,c9=0.001 for the performance index coefficient of 0, state variables v,a,q,θ,δc,T,θc/s,δτ0,T0. Under the disturbance of wind, airship can still track input signals well with no steady state er-for, short setting time.

关 键 词：特征结构配置 H∞鲁棒控制 风干扰抑制 姿态控制 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计]