摘要
针对运输机舵面故障情况下的姿态容错控制问题,提出了一种考虑预设性能约束的自适应指令滤波增量反步(Adaptive Command-filtered Incremental Backstepping,ACFIBS)容错控制器。首先,构造运输机故障模型,在反步控制设计结构下,通过构造预设性能函数,保证外回路姿态角跟踪误差的动态性能。然后,考虑舵机偏转速率和幅值限制,引入受限指令滤波器和补偿信号,综合考虑气动参数不确定性,采用增量方法设计反步内环控制律。在此基础上,进一步考虑舵面故障情况,引入自适应方法及低通滤波器改进增量反步控制器。最后,通过理论推导和仿真试验验证了控制方法的有效性。仿真结果表明,所设计的控制器具有良好的容错性能,在不同舵面故障条件下均可实现对指令信号的预设性能跟踪,且在参数摄动情况下具有较强的鲁棒性。
A PPC-ACFIBS flight controller is proposed for the transport aircraft to solve the attitude fault-tolerant control problem in the case of actuator faults. Firstly, the transport aircraft model with actuator faults is established. Next, under the backstepping control design structure, the transient performance of attitude angle tracking error can be guaranteed by constructing a prescribed performance function. Then, a constrained command filter method and compensation signals are introduced to consider the actuator physical limited and angular rate limited. The IBS method is introduced to design the inner loop control law which can solve the problem of uncertainty caused by aerodynamic parameters and actuator faults. On this basis, the adaptive method and low pass filter are introduced to improve the incremental backstepping controller. Finally, the effectiveness of the control method is verified by theoretical derivation and simulation experiments. The simulation results show that the controller can realize the predetermined performance tracking of the command signal under different actuator faults, and has strong robustness in the case of parameter perturbation.
作者
朱鹏
赵仁厚
周媛
路欢
岳付昌
ZHU Peng;ZHAO Renhou;ZHOU Yuan;LU Huan;YUE Fuchang(Naval Aviation University,Huludao 125001,China)
出处
《飞行力学》
CSCD
北大核心
2021年第1期46-53,共8页
Flight Dynamics
关键词
容错控制
舵面故障
不确定性
执行器非线性
fault-tolerant control
actuator faults
uncertainty
actuator nonlinearity
