基于干扰估计的非对称运动下飞机刹车系统模型预测控制  

Model Predictive Control of Aircraft Braking System Under Asymmetric Motion Based on Disturbance Estimation

作　　者：李繁飙 杨皓月 王鸿鑫 阳春华[1] 廖力清[1] LI Fan-Biao;YANG Hao-Yue;WANG Hong-Xin;YANG Chun-Hua;LIAO Li-Qing(School of Automation,Central South University,Changsha 410083;Peng Cheng Laboratory,Shenzhen 518000)

机构地区：[1]中南大学自动化学院,长沙410083 [2]鹏城实验室,深圳518000

出　　处：《自动化学报》2022年第7期1690-1703,共14页Acta Automatica Sinica

基　　金：国家自然科学基金(61973319);湖南省优秀青年基金(2019JJ30032);111计划(B17048);鹏城实验室重点项目(PCL2021A09)资助。

摘　　要：针对飞机在非对称运动下的双侧机轮协调控制问题,提出一种基于滑模干扰估计的模型预测控制方法.首先,通过对飞机制动过程横纵方向力矩机理分析并分别考虑左右机轮对刹车性能的影响,建立全面刻画系统动态的地面滑跑动力学模型.在此基础上,设计滑模观测器对侧风干扰进行实时估计,利用补偿机制实现对侧风扰动的有效抑制.此外,提出基于前轮荷载状态门限特征和结合系数阈值范围特征的分析方法,解决切换跑道环境辨识问题.设计非线性模型预测算法,实现飞机纵向防滑刹车和横向跑道纠偏的协调控制.最后,在侧风干扰、跑道切换以及不对称着陆等情况下进行仿真实验,验证了所提出的控制策略能够有效提升刹车系统的防滑效率及纠偏性能.In this paper,a model predictive control method based on sliding mode disturbance estimation is proposed to solve the problem of bilateral wheel coordinated control of aircraft in asymmetric motion.Firstly,by analyzing the mechanism of transverse and longitudinal torque in aircraft braking process and considering the influence of left and right wheel pairs on braking performance,a ground taxiing dynamic model is established which can comprehensively describe the system dynamics.Then,a sliding mode observer is designed to estimate the crosswind disturbance in real time,and the compensation mechanism is utilized to suppress the crosswind disturbance effectively.In addition,an analysis method based on the threshold characteristics of front wheel load state and the threshold range characteristics of adhesion coefficient is proposed to solve identification problem of switching runway environment.A nonlinear model prediction algorithm is designed to realize the coordinated control of aircraft longitudinal anti-skid braking and lateral runway deviation correction.Finally,simulation experiments are carried out under the conditions of crosswind disturbance,runway switching,and asymmetric landing.It is verified that the control strategy proposed in this paper can effectively improve the anti-skid efficiency and deviation correction performance of the braking system.

关 键 词：飞机防滑刹车及纠偏 干扰观测器 跑道辨识 非线性模型预测控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] V227[自动化与计算机技术—控制科学与工程]