基于参数依赖的直升机LPV鲁棒变增益控制  

Robust gain scheduled control based on parameter-dependent helicopter LPV model

作　　者：严鹏 刘春生[1] 郭剑东 鲁可[1,3] 张绍杰 YAN Peng;LIU Chunsheng;GUO Jiandong;LU Ke;ZHANG Shaojie(College of Automation Engineering,NUAA,Nanjing 211106,China;Research Institute of Unmanned Vehicle,NUAA,Nanjing 210016,China;Key Laboratory of Rotorcraft Aeromechanics,AVIC China Helicopter Researchand Development Institute,Jingdezhen 333001,China)

机构地区：[1]南京航空航天大学自动化学院,江苏南京211106 [2]南京航空航天大学无人机研究院,江苏南京210016 [3]航空工业直升机设计研究所直升机旋翼动力学重点实验室,江西景德镇333001

出　　处：《飞行力学》2021年第2期45-50,57,共7页Flight Dynamics

基　　金：航空科学基金资助(201957052002)。

摘　　要：针对直升机飞行状态量在全飞行包线内动态变化的问题,设计了一种鲁棒变增益控制方法。在直升机非线性模型的基础上,研究了直升机前飞状态下的纵向线性参数变化(LPV)模型,并引入参考输入,将已建立的模型增广为仿射参数依赖LPV模型;运用鲁棒变增益仿射参数依赖Lyapunov函数的方法对该模型进行控制律设计,并验证了其稳定性;最后通过数值仿真验证了所设计控制器的实时性与鲁棒性。研究结果表明,该方法有效降低了单一Lyapunov函数所带来的保守性,可以用于直升机LPV模型的鲁棒控制与状态量跟踪。In view of the dynamic change of helicopter flight state within the full flight envelope,a robust gain scheduled control method was proposed.Based on the original nonlinear model of helicopter,the longitudinal LPV model of helicopter in forward flight was established.Then the reference input was introduced to expand the established model into the affine parameter-dependent LPV model.The controller was designed and its stability was verified by the method of robust gain scheduled control based on affine parameter-dependent Lyapunov function.Finally,the real-time performance and robustness of the controller were verified by numerical simulation.The results show that this method can effectively reduce the conservatism brought by the single Lyapunov function,and can be used for the control and state tracking of helicopter LPV model.

关 键 词：LPV建模 鲁棒变增益控制 仿射参数依赖Lyapunov函数 状态跟踪 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计]