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以襟翼作为执行机构的面对称飞行器,研究其控制能力和自动驾驶仪设计。襟翼作为执行机构相比传统全动舵缺少方向舵,对缺少方向舵类型的控制方式,推导出此情况下的面对称飞行器动力学模型。基于该模型描述的非线性控制系统,采用微分几何方法进行能控性分析,证明该系统的弱能控性;应用求解状态依赖的Riccati方程方法,以襟翼为执行机构的面对称飞行器,设计非线性最优控制器。仿真结果表明,在系统弱能控性的基础上,设计的控制器能够在缺少方向舵的情况下,使得滚转角和纵向过载快速地跟踪指令。同时验证了飞行器双通道控制的可行性。
Face-to-face aircraft with flaps as actuators studied their control and autopilot design. The flaps, as the actuators, lacked the rudder compared to the conventional full-motion rudder. For the lack of control of the rudder type, the plane-symmetric aircraft kinematics model was deduced. Based on the nonlinear control system described by the model, the differential geometry method is used to analyze the controllability, and the weak controllability of the system is proved. By applying the Riccati equation method which depends on the state of the solution and the plane-facing aircraft with the flaps as the actuator, Design of Nonlinear Optimal Controller. The simulation results show that the designed controller can make the roll angle and longitudinal overload track the command quickly in the absence of the rudder based on the weak controllability of the system. At the same time, the dual-channel control of the aircraft is verified.