考虑纯时延、后置滤波器和作动器特性的扩展INDI方法  

Extended INDI method by considering characteristics of pure time delay,post-filter and actuator

作　　者：李孟棠 李建平[2] 陶呈纲[2] 孙绍山[2] LI Mengtang;LI Jianping;TAO Chenggang;SUN Shaoshan(School of Intelligent Systems Engineering,Sun Yat-Sen University,Guangzhou 510006,China;Chengdu Aircraft Design and Research Institute,Chengdu 610091,China)

机构地区：[1]中山大学智能工程学院,广东广州510006 [2]成都飞机设计研究所,四川成都610091

出　　处：《飞行力学》2022年第5期34-39,共6页Flight Dynamics

摘　　要：当飞行控制系统中存在纯时延或后置滤波器时,常规增量非线性动态逆(INDI)方法对应的作动器速度阶跃响应将出现稳态误差。为此,提出了3种新型INDI方法,将动态逆的对消原理从飞机模型扩展到纯时间延迟、后置滤波器和作动器模型。从传递函数角度对比分析了上述几种方法的作动器速度阶跃响应稳态误差,并将其应用到俯仰角速度控制律设计中。仿真结果表明,相比于常规INDI方法,采用新型INDI方法设计的俯仰角速度控制系统实现了令人满意的动态特性,并且作动器的速度能力得到了充分利用,飞机的最大俯仰角加速度增加了近20%,从而有效地提高了飞机的敏捷性。The actuator’s rate step response of conventional INDI method cannot avoid steady state error if the pure time delay or post-filter exists in the flight control system.Therefore,this paper proposes three novel INDI methods and extends the cancellation idea of dynamic inversion from aircraft models to pure time delay,post-filter and actuator dynamic models.Analyses and comparisons about actuator’s rate step response are mathematically conducted for these methods from transfer function aspect.Then these methods are applied and tested in design of rate of pitch control low.The results show that,compared with the conventional INDI method,the pitch rate control system designed by the novel INDI methods achieves satisfactory dynamic characteristics,the rate capability of the actuator is fully utilized,and the maximum pitch acceleration of the aircraft is increased by nearly 20%,thus effectively improving the agility of the aircraft.

关 键 词：增量非线性动态逆 控制律 作动器 纯时间延迟 后置滤波器 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计]