倾转旋翼机容错飞行控制律设计技术研究

发布时间：2018-01-14 18:38

本文关键词：倾转旋翼机容错飞行控制律设计技术研究　出处：《南京航空航天大学》2016年硕士论文　论文类型：学位论文

【摘要】：倾转旋翼机飞行特性变化显著,控制复杂,操纵舵面冗余,为容错控制律设计提供了良好基础,倾转旋翼机容错飞行控制律设计是其关键技术之一。本文以无人倾转旋翼机为研究对象,建立了飞行器非线性飞行动力学模型,通过对非线性模型进行配平计算,分析倾转旋翼机在直升机模式、倾转过渡模式以及飞机模式下各操纵面的操纵功效,获得倾转旋翼机在不同飞行模式下的操纵分配策略,进而确定了合理的过渡转换路径。根据确定的过渡路径采用动态逆结合PID的控制方式对倾转旋翼机进行控制律设计,实现了倾转旋翼机的全模式飞行。针对倾转旋翼机操纵面冗余的特点,分别设计了多模型容错飞行控制系统和直接自适应容错飞行控制律,当倾转旋翼机全模式飞行出现故障时,实现了输入指令的良好跟踪。最后结合多模型和直接自适应理论,对舵面松浮时采用多模型理论,对舵面损伤时采用直接自适应理论,综合设计了分层混合直接自适应控制系统,当倾转旋翼机全模式飞行过程中舵面出现损伤及松浮时,系统输出依然能跟踪参考模型,保证倾转旋翼机在出现故障后仍能完成飞行任务。仿真结果表明本文方法的可行性。
[Abstract]:The flight characteristics of tilting rotorcraft are obviously changed, the control is complex and the rudder surface is redundant, which provides a good basis for the design of fault-tolerant control law. The design of fault-tolerant flight control law for tilting rotor is one of its key technologies. In this paper, the nonlinear flight dynamics model of an unmanned tilting rotor is established. Through the leveling calculation of the nonlinear model, the control effect of the tilting rotor in the helicopter mode, the tilting transition mode and the control surface under the aircraft mode is analyzed. The control and allocation strategies of tilting rotor in different flight modes are obtained. Then the reasonable transition path is determined. According to the determined transition path, the control law of tilting rotor is designed by using dynamic inverse combined with PID control method. The full mode flight of tilting rotor is realized. Aiming at the redundant control surface of tilting rotor, a multi-model fault-tolerant flight control system and a direct adaptive fault-tolerant flight control law are designed respectively. When the full-mode flight failure of tilting rotor aircraft, the good tracking of input instructions is realized. Finally, the multi-model theory is used for rudder surface loose floatation with the combination of multi-model and direct adaptive theory. The direct adaptive theory is used to design the layered hybrid direct adaptive control system for the rudder surface damage. When the rudder surface is damaged and loosely floated during the full-mode flight of tilting rotor aircraft. The output of the system can still track the reference model to ensure that the tilting rotorcraft can complete the mission after failure. The simulation results show that the proposed method is feasible.
【学位授予单位】：南京航空航天大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：V249.1

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