基于增量动态逆的倾转旋翼飞行器飞行控制律设计  

Design of Flight Control Law of Tilt-rotor Aircraft Based on Incremental Dynamic Inversion

作　　者：郑琛 唐鹏 李秋实[1] ZHENG Chen;TANG Peng;LI Qiushi(School of Energy and Power Engineering,Beihang University,Beijing 100191,China;School of Transportation Science and Technology,Beihang University,Beijing 100191,China)

机构地区：[1]北京航空航天大学能源与动力工程学院,北京100191 [2]北京航空航天大学交通科学与工程学院,北京100191

出　　处：《兵工学报》2019年第12期2457-2466,共10页Acta Armamentarii

基　　金：北京航空航天大学基础科研业务项目(YWF-16-GJSYS-06)

摘　　要：针对非线性动态逆控制对模型精确度要求高、鲁棒性差的特点,设计了基于增量非线性动态逆方法的倾转旋翼飞行器全模式飞行控制律。在倾转旋翼飞行器动力学模型的基础上推导出增量动态逆控制律,针对倾转旋翼飞行器操纵存在冗余的特点,在增量动态逆算法的基础上引入舵面控制分配算法;提出一种实时解算控制效率B阵的方法,并设计了一种能够降低对精确数学模型依赖的全模式控制律。通过仿真验证了所提算法对倾转旋翼飞行器控制的有效性。A flight control law of tilt-rotor aircraft based on incremental nonlinear dynamic inversion( INDI) is designed for the high precision and poor robustness of nonlinear dynamic inversion( NDI) control law. The incremental dynamic inversion control law is derived based on the dynamic model of tilt-rotor aircraft. In view of the redundancy of tilt-rotor aircraft,the control allocation algorithm of rudder surface is introduced based on the incremental dynamic inversion algorithm. A real-time solution to control the efficiency B-matrix is proposed,and a full-mode control law which can reduce the dependence on accurate mathematical model is designed. The effectiveness of the proposed algorithm for tilt-rotor aircraft is verified by simulation.

关 键 词：倾转旋翼飞行器 非线性增量动态逆 飞行控制律 仿真验证 

分 类 号：V249.122.2[航空宇航科学与技术—飞行器设计]