基于转速反馈的动力翼伞纵向串级控制  

Longitudinal Cascade Control of Powered Parafoil Based on Speed Feedback

作　　者：陈赛 孙青林 陈增强 马策 CHEN Sai;SUN Qing-lin;CHEN Zeng-qiang;MA Ce(College of Artificial Intelligence,Nankai University,Tianjin 300350,China;Sinopec Shared Services Co.Ltd.,Beijing 100000,China)

机构地区：[1]南开大学人工智能学院,天津300350 [2]中国石化集团共享服务有限公司,北京100000

出　　处：《控制工程》2021年第1期77-83,共7页Control Engineering of China

基　　金：国家自然科学基金项目(61273138,61573199);国家科技支撑计划课题(2015BAK06B04);天津市科技支撑计划重点项目(14ZCZDSF00022)。

摘　　要：为提高动力翼伞纵向跟踪效果,并针对现有模型及控制方法的局限性,着眼于实际飞行试验,提出一种基于转速反馈调节的串级自抗扰控制策略。首先在动力翼伞纵向模型的基础上,改进引入无刷直流电机模型,并利用转速测量装置实时更新电机转速信息,应用最小二乘法拟合电机转速与螺旋桨静推力的非线性关系。设计纵向轨迹控制器,内环实现对电机转速的快速调节,外环完成对参考高度的跟踪。半实物仿真结果表明,该方法提高了动力翼伞纵向通道响应速度和跟踪精度,性能优于传统的控制方法,具有一定的实际意义。In order to improve the longitudinal tracking effect of powered parafoil,and focus on the actual flight test for the limitations of the existing model and control method,a cascade active disturbance rejection control(ADRC)strategy based on speed feedback regulation is proposed.Firstly,the longitudinal model with brushless DC motor(BLDCM)based on powered parafoil is improved.After that,the speed measurement device is applied for updating the motor speed information in real time,and the nonlinear relationship between the motor speed and the propeller static thrust is acquired by the least square fitting method.Then the longitudinal trajectory controller is designed.The inner loop realizes the fast adjustment of the motor speed,and the outer loop traces the reference altitude.The semi-physical simulation results show that this strategy improves the response speed and tracking accuracy of the longitudinal channel of the powered parafoil,and the control performance is better than the traditional method,which has certain practical significance.

关 键 词：动力翼伞 无刷直流电机 转速反馈 纵向控制 串级自抗扰 最小二乘拟合 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计] TP29[自动化与计算机技术—检测技术与自动化装置]