基于可变增益的动力翼伞反步降高控制  

The Backstepping Altitude Reduction Control of Powered Parafoil Based on Variable-Gain

作　　者：陈自力[1] 张昊[1] 邱金刚[1] 苏立军[1] 

机构地区：[1]军械工程学院无人机工程系,石家庄050003

出　　处：《航天控制》2016年第3期3-7,13,共6页Aerospace Control

摘　　要：针对无人动力翼伞稳定航速下的降高控制问题,提出一种基于可变增益的自适应反步控制策略。根据翼伞纵向模型推导了稳定航速下尾沿偏转反步控制律,并通过对增益参数的合理设计,消除了控制律中的复杂非线性项,避免了传统反步法中虚拟量的复杂导数问题,使控制器具有简单的参数可调节形式。利用模糊逻辑系统对可变增益参数进行在线调节,优化了控制器性能。将控制器应用于外部干扰条件下的动力翼伞降高控制中,结果表明控制器具有较小的稳态误差和较高的跟踪精度。To deal with the altitude reduction control problem of unmanned powered parafoil （UPP） under a stable velocity, an adaptive backstepping control approach is developed, which is based on variable-gain. The backstepping control strategy of trailing edge deflection with variable-gain is proposed under a stable velocity based on the longitudinal model of UPP, and the nonlinear term is eliminated by choosing the controller parameters reasonably. And the requirement of the complicated derivative of virtual control variable in traditional backstepping method is avoided, which simplifies the parameter adjustment of controller. The gain parameter is adjusted online by the fuzzy logic system which optimizes the controller performance. Simu-lation experiment is implemented for the controller applied to UPP reducing height control with external disturbances, the results validate the small steady-state error and the accurate tracking ability.

关 键 词：无人动力翼伞 可变增益 反步法 降高控制 模糊系统 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]