摘要
为了避免一些执行机构提前出现饱和,针对具有位置约束的过驱动碟形飞行器,按照执行机构的约束范围,提出了一种比例分配策略.基于该策略,可以使双输入系统简化成单输入系统,并避免有执行机构提前出现饱和.考虑执行机构具有一阶动态特性和系统气动参数的不确定性,设计了滑模控制律.通过比例分配和伪逆分配的比较,得出了一种确定伪逆分配权矩阵的方法.仿真结果表明了该方法的正确性和有效性.
In order to avoid some actuators saturation in advance,a proportion control allocation strategy was proposed in over-actuated saucer-shaped aircraft under position limits.The proportion was defined by the lower and upper position limits of the actuators.With the strategy,the system with two inputs was changed into one with single input,and the appearance of some actuators saturation in advance was avoided.The actuator dynamics and the uncertainty of the aerodynamic coefficients of the system were considered.A sliding mode control law was designed.The weighting matrix of the pseudoinverse control allocation was determined by comparison between proportion control allocation and pseudoinverse control allocation.Simulation results show that the proposed method is right and effective.
出处
《北京航空航天大学学报》
EI
CAS
CSCD
北大核心
2010年第10期1194-1198,共5页
Journal of Beijing University of Aeronautics and Astronautics
基金
总装预研重点基金资助项目(6140511)
关键词
飞行器控制和导航技术
过驱动
控制分配
滑模控制
碟形飞行器
control and navigation technology of aerocraft
over-actuated
control allocation
sliding mode control
saucer-shaped aircraft
