直升机切换LPV鲁棒跟踪控制  

Switching LPV Robust Tracking Control for Helicopters

作　　者：张绍杰[1] 李硕 严鹏 鲁可[1,2] ZHANG Shaojie;LI Shuo;YAN Peng;LU Ke(College of Automation Engineering,Nanjing University of Aeronautics&Astronautics,Nanjing 211106,China;Science and Technology on Rotorcraft Aeromechanics Laboratory,China Helicopter Research and Development Institute,Jingdezhen 333001,China)

机构地区：[1]南京航空航天大学自动化学院,南京211106 [2]中国直升机设计研究所直升机旋翼动力学重点实验室,景德镇333001

出　　处：《南京航空航天大学学报》2021年第2期260-266,共7页Journal of Nanjing University of Aeronautics & Astronautics

基　　金：航空科学基金(201957052002)资助项目;江苏省自然科学基金(BK20201291)资助项目。

摘　　要：针对直升机跟踪控制问题,提出了一种基于模态依赖平均驻留时间(Mode-dependent average dwell time,MDADT)切换信号的线性变参数(Linear variable parameter,LPV)控制方法。在直升机全飞行包线内选取可以表征直升机飞行特性的状态作为增益调度变量,利用"小扰动"假设将全量方程进行线性化处理并对其配平求解,将复杂的非线性模型转化为可以计算求解的线性模型。采用雅可比线性化方法在非线性模型平衡点处进行线性化处理,使用数据拟合的方法在理论上建立与非线性模型动态接近的LPV模型。对时变参数进行区间划分,结合参数依赖的多Lyapunov函数和MDADT方法,给出了保证切换LPV系统全局一致指数稳定的充分条件。考虑时变参数的渐变特性,以及由于测量误差和参数飘移等因素而造成的控制器增益变化,得到了在MDADT切换信号限制下的切换律。仿真结果表明所设计的控制律能有效动态跟踪直升机前飞的不同状态量,验证了所建模型和控制算法的有效性和可行性。A linear parameter‑varying(LPV)control scheme under the mode‑dependent average dwell time(MDADT)switching signals is proposed.In the full flight envelope of the helicopter,the state vectors that can describe the flight characteristics of the helicopter are selected as the gain scheduling variable,and the“small disturbance”hypothesis is used to linearize the mathematic model.The Jacobian linearization is used to get the linear model,and the LPV model is established by data fitting.Combined with the parameter‑dependent multi‑Lyapunov function and the average dwell time method,the time‑varying parameters are divided into intervals,and a sufficient condition to ensure the global uniform exponential stability of the switching LPV system is given.Considering the gradual change of time‑varying parameters,the switching law in the limitation of the MDADT switching is obtained.On the other hand,the gain change of the controller caused by measurement error and parameter drift is also considered.Simulation results indicate the effectiveness and feasibility of the proposed model and the control method.

关 键 词：直升机 线性变参数建模 切换多胞系统 跟踪控制 模态依赖平均驻留时间 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计]