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针对过驱动飞行控制系统中执行器故障时的协调分配问题,提出了一种基于积分滑模的容错飞行控制器设计方法。引入虚拟控制思想,构造了多执行器故障条件下飞行器层级结构控制的数学模型。运用小增益定理,推导了系统闭环稳定的充分条件,并基于线性矩阵不等式,建立了最优状态反馈的凸优化模型。以积分滑模面切换函数为变量,选取李雅普诺夫能量函数,设计了渐近稳定的积分滑模控制器。仿真结果表明,该方法可综合考虑执行器完好和故障时的控制效能,能够实现多操纵面容错飞行控制,具有较好的鲁棒性。
In order to solve the problem of coordinated distribution of actuators in over-actuated flight control system, a fault-tolerant flight controller design method based on integral sliding mode is proposed. The idea of virtual control was introduced to construct the mathematical model of aircraft structure control under multi-actuator fault conditions. By using the small gain theorem, the sufficient conditions for the closed-loop stability of the system are deduced. Based on the linear matrix inequality, a convex optimization model of optimal state feedback is established. Taking integral sliding surface switching function as a variable, the Lyapunov energy function is selected, and an asymptotically stable integral sliding mode controller is designed. The simulation results show that this method can comprehensively consider the control performance of the actuator when it is intact and faulty, and can achieve fault-tolerant flight control with multiple control surfaces with good robustness.