摘要
采用加权广义逆方法,设计"致远一号"平流层演示验证飞艇的可重构控制系统,当执行机构发生故障时,不需改变控制律,只需改变操纵效率加权矩阵的权值就可实现快速重构;飞艇配置有混合异类执行机构,各执行机构对飞艇运动存在操纵冗余和驱动耦合;引入间接控制向量,建立执行机构故障类型与操纵效率加权矩阵取值对照表,解决飞艇非线性操纵的控制分配与重构问题。给出系统正常和故障情况下,高度和偏航角跟踪仿真试验。结果表明,系统正常时,各执行机构复合控制飞艇,响应时间最短,实现混合异类执行机构配置下的优化控制分配;当其中一个执行机构故障时,系统仍能实现期望的动态性能,实现快速重构。
Weighted generalized inverse method is used to design a reconfigurable control system for ＂ZHIYUAN-1＂ stratospheric demonstrating airship.When actuator failure occurs,the rapid reconfiguration can be achieved only by changing the weight values of control efficiency weighted-matrix,rather than changing the control law. The ＂ZHIYUAN-1＂ airship is equipped with hybrid-heterogeneous actuators,and there is driving redundancy and coupling between actuators.An indirect control vector is introduced,a map from actuator failure to efficiency weighted-matrix of indirect control vector is established,and then the control allocation and reconfiguration problem of nonlinear manipulation is solved.Simulations of altitude and yaw tracking are illustrated under the normal conditions and the actuator failures.Simulation results show that in normal mode,the composite control is used,response time is shortest,the system achieves an optimal control allocation.When one of the actuators is under failure,the system can achieve a desired dynamic performance for fast reconfiguration.
出处
《测控技术》
CSCD
北大核心
2012年第8期49-53,共5页
Measurement & Control Technology
基金
国家自然科学基金资助项目(60805036
61175074)
关键词
平流层演示验证飞艇
加权广义逆
混合异类执行机构
控制分配
重构
stratospheric demonstrating airship
weighted generalized inverse
hybrid-heterogeneous actuators
control allocation
reconfiguration
