垂直起降飞机的切换容错控制方法研究及数字仿真实现

发布时间：2018-05-11 11:13

本文选题：垂直起降飞机 + 非最小相位　；参考：《南京航空航天大学》2015年硕士论文

【摘要】：最后,针对每个模态都存在执行器故障的垂直起降飞机切换系统模型,设计三个具有级联结构的扩张故障诊断观测器系统分别估计每个模态的未知故障信息,利用最优控制技术和积分滑模控制技术设计每个模态的容错控制器来使得每个故障模态闭环稳定,基于共同李雅普诺夫函数和输入状态稳定性(Input To State Stability,ISS)理论分析了切换系统的闭环稳定性并给出了一个可行的状态依赖切换律用来进行数值仿真。仿真结果表明所设计故障估计算法和容错控制算法的有效性。本文以推力矢量式垂直起降(Vertical Take-off and Landing,VTOL)飞机为对象,进行常规轨迹跟踪控制和容错跟踪控制的研究。利用切换系统理论对垂直起降飞机的多模态飞行过程进行动力学建模,利用反馈线性化和系统解耦技术对垂直起降飞机的无故障和故障两种飞行状况提出切换控制算法,并在Matlab软件平台上进行数字仿真,表明所提控制方法的有效性。首先,介绍本课题的研究背景、目的及意义,系统地阐述了故障、容错控制(Fault Tolerant Control,FTC)及切换系统的相关概念,总结了垂直起降飞机的研究现状,最后给出本文的主要工作内容。然后,分析了垂直起降飞机的多模态飞行特点,建立了每个模态在纵向二维平面内的动力学模型,然后给出了整个飞行过程的非线性切换系统模型并给出了执行器故障的模型,为后面的控制设计和仿真提供了数学模型基础。之后,基于垂直起降飞机的切换系统模型,先分别针对每个模态进行相应的模型变换、系统解耦和常规跟踪控制器设计,然后基于共同李雅普诺夫函数(Common Lyapunov Function,CLF)理论,分析了整个切换跟踪误差系统的闭环稳定性,仿真结果表明所设计的控制算法能够有效地实现轨迹跟踪控制目标。
[Abstract]:Finally, three extended fault diagnosis observer systems with cascaded structure are designed to estimate the unknown fault information of each mode. The fault-tolerant controller of each mode is designed by using the optimal control technique and the integral sliding mode control technique to make the closed-loop stability of each fault mode stable. Based on the common Lyapunov function and input to State stability theory, the closed-loop stability of switched systems is analyzed and a feasible state-dependent switching law is presented for numerical simulation. Simulation results show the effectiveness of the proposed fault estimation algorithm and fault-tolerant control algorithm. In this paper, the conventional trajectory tracking control and fault-tolerant tracking control are studied for the thrust vector vertical Take-off and landing VTOL aircraft. The multi-modal flight process of vertical take-off and landing aircraft is modeled by the theory of switching system, and a switching control algorithm is proposed by using feedback linearization and system decoupling technology for both fault-free and malfunction flight conditions of vertical take-off and landing aircraft. Digital simulation on Matlab software platform shows the effectiveness of the proposed control method. Firstly, the research background, purpose and significance of this subject are introduced. The concepts of fault, fault tolerant control fault Tolerant control (FTCs) and switching system are systematically described, and the research status of vertical takeoff and landing aircraft is summarized. Finally, the main work of this paper is given. Then, the multi-modal flight characteristics of the vertical take-off and landing aircraft are analyzed, and the dynamic model of each mode in the longitudinal two-dimensional plane is established. Then, the nonlinear switching system model of the whole flight process and the actuator fault model are given. The mathematical model is provided for the control design and simulation. Then, based on the switching system model of vertical take-off and landing aircraft, the corresponding model transformation is carried out for each mode, the decoupling and conventional tracking controller are designed, and then based on the common Lyapunov function (CLF) theory, the system decoupling and conventional tracking controller are designed. The closed-loop stability of the switching tracking error system is analyzed. The simulation results show that the proposed control algorithm can effectively achieve the trajectory tracking control target.
【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】：2015
【分类号】：V249.1

【相似文献】