舵机速率饱和时的飞机尾旋改出控制

通过闭环控制进行飞机尾旋自动改出时, 由于控制能量不足舵机速率饱和有可能引起振荡问题. 本文基于反步法设计一种抗舵机速率饱和的尾旋自动改出控制方法. 将飞机模型看做角度、角速度和舵机三层级联结构, 首先利用反步法设计角度和角速度层控制律, 然后在舵机层控制律根据舵机速率饱和限制约束控制量, 同时通过Lyapunov函数保证闭环系统渐近稳定. 对所得控制方法抗舵机速率饱和的效果进行了分析. 以某现代歼击机模型为对象的仿真试验表明, 该方法在舵机存在速率饱和的情况下控制效果明显优于传统动态逆方法与传统反步法.

Aircraft control for spin-recovery with rate saturation in actuators

In recovering an aircraft from spinning by a closed-loop control system, the saturations in actuator rate due to insufficient power may cause adverse oscillations of the aircraft motion. To deal with this problem, we propose a control scheme based on the backstepping method. The aircraft model is developed in three cascading layers: the angle lawyer, the angular-rate layer and the actuator layer. The control laws for the angle layer and the angular-rate layer are designed by using the backstepping method. The control law for the actuator layer is designed by constraining the control input corresponding to the actuator rate limits, and ensuring the stability of the closed-loop system according to a Lyapunov function. The analysis is given on the control effect of the developed method with actuator rate saturation. Simulation of the control for a modern fighter aircraft shows superior performances to those obtained by conventional control with dynamic inversion or backstepping methods.