摘要
针对高速直升机过渡段存在状态受约束的非线性操纵冗余问题,设计了一种内外环相结合的多级控制分配架构,提出了一种基于改进迭代学习算法的控制分配策略。首先,通过引入修正因子减小自适应学习率的方差;然后,利用改进迭代学习算法对操纵面分配系数进行动态优化,提高算法收敛性,改善过渡段飞行安全;最终,实现对过渡段期望轨迹的精确快速跟踪。测试实验的结果表明,所提方法可以显著提高算法学习速率,所获得的控制分配策略能够充分考虑各操纵面的操纵效率随飞行速度的变化,显著提升了过渡飞行安全。
A multilevel control allocation architecture combining internal and external loops is designed to solve the problem of nonlinear control redundancy with state-constrained in transition phase of high-speed helicopter,and a control allocation strategy based on improved iterative learning algorithm is proposed.The convergence of iterative learning algorithm is improved by introducing the correction factor to reduce the variance of adaptive learning rate.The test results show that the proposed method can significantly improve the learning rate of algorithm,and the obtained control allocation strategy can fully consider the change of control efficiency of each control surface with the flight speed,which significantly improves the transition flight safety.
作者
段镖
刘业华
王兆基
袁婷慧
盛守照
DUAN Biao;LIU Yehua;WANG Zhaoji;YUAN Tinghui;SHENG Shouzhao(Department of Defense Research,China Helicopter Research and Development Institute,Jingdezhen 333001,China;College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China)
出处
《控制工程》
北大核心
2025年第9期1563-1568,共6页
Control Engineering of China
基金
航空科学基金资助项目(20220058052002)。
关键词
控制分配
迭代学习
高速直升机
过渡段
Control allocation
iterative learning
high-speed helicopter
transition phase
