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作 者:曾喆昭[1] 章禛昊 ZENG Zhezhao;ZHANG Zhenhao(School of Electrical and Information Engineering,Changsha University of Science and Technology,Changsha 410014,China)
机构地区:[1]长沙理工大学电气与信息工程学院,长沙410014
出 处:《空间控制技术与应用》2023年第6期38-46,共9页Aerospace Control and Application
基 金:湖南省教育厅重点资助项目(21A0183)。
摘 要:针对非最小相位欠驱动垂直起降(vertical taking-off and landing, VTOL)飞行器的控制难题,提出了一种自耦PID(auto-coupling proportional-integral-differrential, ACPID)控制理论方法.首先通过坐标变换将VTOL飞行器的质心映射为Huygens振动中心,不仅能实现新系统控制输入解耦,而且也能避免非最小相位VTOL飞行器零动态不稳定的问题;然后对Huygens振动中心分别设计纵横向位置的ACPID控制器,并分别获得VTOL飞行器底部推力和滚转姿态角虚拟指令,进而设计滚转姿态角的ACPID控制器形成滚转力矩,从而实现VTOL飞行器系统的位置跟踪控制;最后通过复频域分析理论证明闭环控制系统的鲁棒稳定性和抗扰动鲁棒性.理论分析和仿真结果都表明了本文方法的有效性,在非最小相位欠驱动控制系统领域具有重要的科学意义和广泛的应用前景.To solve the control problem of non-minimum phase underactuated vertical taking-off and landing(VTOL)aircraft,an ACPID(auto-coupling proportional-integral-differrential)control method is proposed.Firstly,coordinate transformation is used to map the center of mass of VTOL aircraft to Huygens vibration center,which can not only realize decoupling of control input of the new system,but also avoid zero dynamic instability of non-minimum phase VTOL aircraft.Then,Huygens vibration center is designed with ACPID controller in vertical and horizontal directions respectively,and the bottom thrust and the virtual instruction of roll attitude angle for VTOL aircraft are obtained respectively,and then the ACPID controller of the roll attitude angle is designed to form the roll torque,so as to realize the position tracking control of VTOL aircraft system.Finally,the robust stability and anti-disturbance robustness of the closed-loop control system are proved by the complex frequency domain analysis theory.Theoretical analysis and simulation results show the effectiveness of the proposed method,which has important scientific significance and wide application prospects in the field of non-minimum phase underactuated control system.
关 键 词:自耦PID控制 垂直起降飞行器 非最小相位 欠驱动系统 坐标变换
分 类 号:TP273[自动化与计算机技术—检测技术与自动化装置]
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