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针对常规布局飞机舵面故障下的侧滑飞行控制问题,提出一种基于e-σ-modification混合自适应律的级联式侧滑飞行控制方法。在滚转角和偏航角速率响应时间远小于侧滑角响应的假设下,证明了侧滑角级联回路的稳定性并给出调节时间ts与PI参数的关系。在扰动或未建模舵动态下,针对相对阶等于1和大于1的滚转角和偏航角速率通道分别设计模型参考自适应控制器(model reference adaptive controller,MRAC)。利用李雅普诺夫方法证明了在e-σ-modification律下鲁棒自适应控制内环的有界稳定,并给出在e-modification律基础上能够进一步减小输出误差和控制参数误差界限的自适应增益选择方法。仿真验证表明在允许的舵偏范围内,该侧滑飞行控制方法不仅具有较满意的侧滑角保持和跟踪性能,而且能够有效减小上述误差界限,有效性得以验证。
Aiming at the problem of side-slip flight control under the conventional layout of the aircraft’s rudder surface, a cascaded sliding-side flight control method based on e-σ-modification hybrid adaptive law is proposed. Under the assumption that the response time of roll angle and yaw rate is much less than the response of side slip angle, the stability of cascade circuit of side slip angle is proved and the relationship between adjustment time ts and PI parameters is given. The model reference adaptive controller (MRAC) is designed separately for the roll angle and yaw rate channels with relative orders equal to 1 and greater than 1, with and without the orbital dynamics. The Lyapunov method is used to prove the robust adaptive control of the bounded stability of the inner loop under the e-σ-law, and the self-confinement of the inner loop can be further reduced based on the e-law Adaptive gain selection method. The simulation results show that within the allowable range of helm deflection, the side-slip flight control method not only has satisfactory lateral slip angle keeping and tracking performance, but also effectively reduces the above error margin, and the validity is verified.