变工况下不确定动态突变四旋翼飞行器系统的自适应湍流风扰动抑制技术  

Adaptive wind disturbance rejection technique of a quadrotor with uncertain dynamic mutations under varying operating conditions

作　　者：张雨杰 文利燕 姜斌[1] 齐瑞云[1] Yujie ZHANG;Liyan WEN;Bin JIANG;Ruiyun QI(College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China)

机构地区：[1]南京航空航天大学自动化学院,南京210016

出　　处：《中国科学：信息科学》2024年第7期1730-1751,共22页Scientia Sinica(Informationis)

基　　金：国家自然科学基金(批准号:62173179,62020106003);江苏省自然科学基金项目(批准号:BK20222012);民航飞机健康监测与智能维护重点实验室开放课题(批准号:XCA22036)资助项目。

摘　　要：本文考虑四旋翼飞行过程中湍流风扰动的影响,以及因变工况飞行而导致的不确定动态突变问题,提出了基于输入–扰动双补偿器设计的自适应湍流风扰动抑制方案,保证了四旋翼飞行器系统的稳定和输出渐近跟踪性能.首先对风场环境下的四旋翼进行建模,研究各不同工况下的动态特性,并分析研究了四旋翼飞行器变工况飞行时的动态特性突变的表现形式以及所带来的控制难题.进而设计了一种基于输入–扰动双补偿器的系统重构方案,实现了动态系统重构,解决了关联矩阵突变为非对角型时难以解耦控制,以及相对阶结构突变时控制器结构发生突变的问题.基于重构后的系统,设计自适应的湍流风扰动抑制方案,保证四旋翼飞行器的稳定、扰动抑制和渐近输出跟踪性能.最后,对所设计的控制器进行稳定性证明,并通过仿真验证所提出控制算法的有效性.In this paper,considering the influence of wind disturbance and the uncertainty of dynamic mutation due to flight under variable conditions,an adaptive turbulent wind disturbance suppression scheme based on the design of input-disturbance dual compensator is proposed to ensure the stability and output asymptotic tracking performance of the quadrotor system.Firstly,the quadrotor in wind field environment is modeled.The dynamics under different operating conditions are analyzed,and the manifestation of the dynamic mutation and the control problems are described.Then,a method based on an input-disturbance dual compensator is designed to reconstruct the system,which solves the problems of difficult decoupling control when the interactor matrix mutates to a non-diagonal type,and the mutation of controller structure when the relative degree structure mutates.Based on the reconstructed system,an adaptive state feedback controller is designed to ensure the stabilization,disturbance suppression,and asymptotic output tracking performance of the quadrotor.Finally,the stability of the designed controller is proven and the effectiveness of the proposed control algorithm is verified by simulation.

关 键 词：四旋翼 风扰动抑制 动态特性突变 系统重构 自适应控制 

分 类 号：V279[航空宇航科学与技术—飞行器设计] V249.1[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]