摘要
针对非线性多操纵面飞机的容错控制问题,提出了一种有限时间稳定的非线性自适应容错控制分配方法。首先,建立了以效能增益矩阵描述的过驱动系统执行器故障模型;然后,在模型参考自适应控制框架下,融合控制分配思想,并考虑执行器物理约束,建立了基于优化的含约束控制分配模型以保证能耗最小和虚拟指令跟踪最优;最后,采用Lagrangian法将该约束优化问题转化为无约束优化问题,并基于Lagrangian函数一阶最优条件和有限时间稳定理论完成自适应容错控制分配律设计。仿真结果验证了所提方法的有效性。
Focusing on the fault tolerant control(FTC) problem of multiple-effectors aircraft, an adaptive nonlinear fault tolerant control allocation(FTCA) method within finite time stabilization was proposed. First, an actuator fault model was established by describing an effectiveness gain matrix. Then, by combining the control allocation and taking into account of the physical constraints under the framework of model reference self-adaptive control, the optimization-based constrained control allocation formulation was constructed so as to guarantee the minimization of the energy consumption and the tracking error of the virtual control. Furthermore, the mentioned constrained optimization problem was transformed into an unconstrained one by Lagrangian method. Thus, the adaptive fault tolerant control allocation law is obtained based on the knowledge of Lagrangian first-order optimal condition and finite time stabilization. The simulation results demonstrate the effectiveness of the proposed method.
作者
支健辉
董新民
陈勇
李洪波
刘棕成
刘远飞
ZHI Jian-hui;DONG Xin-min;CHEN Yong;LI Hong-bo;LIU Zong-cheng;LIU Yuan-fei(Graduate College, Air Force Engineering University, Xi' an 710051, China;Aeronautics Engineering College, Air Force Engineering University, Xi'an 710038, China)
出处
《飞行力学》
CSCD
北大核心
2019年第3期32-37,共6页
Flight Dynamics
基金
国家自然科学基金资助(61304120,61473307,61603411)
航空科学基金资助(20155896026)
中国博士后科学基金资助(2017M613417)
空军工程大学校长基金资助(XZJK2018004)
关键词
过驱动系统
容错控制
控制分配
有限时间稳定
执行器故障
over-drive system
fault tolerant control
control allocation
finite time stabilization
actuator fault
