折叠翼飞行器的动力学建模与稳定控制

宋慧心; 金磊

doi:10.6052/0459-1879-20-115

折叠翼飞行器的动力学建模与稳定控制

doi: 10.6052/0459-1879-20-115

宋慧心^2), ,,
金磊^3), ,

北京航空航天大学宇航学院, 北京 100191

基金项目: 1) 国家自然基金青年资助项目(11702010)

详细信息

作者简介:
3) 金磊, 副教授, 研究方向: 航天器动力学与控制. E-mail: jinleibuaa@163.com
2) 宋慧心, 硕士研究生, 研究方向: 飞行器动力学与控制. E-mail: huixinsong@buaa.edu.cn;

通讯作者:
宋慧心,金磊

宋慧心,金磊

中图分类号: V249.1
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- 被引次数: 0
出版历程
- 收稿日期: 2020-04-14
- 刊出日期: 2020-12-10

DYNAMIC MODELING AND STABILITY CONTROL OF FOLDING WING AIRCRAFT

Song Huixin^{2)
, ,},
Jin Lei^{3)
, ,}

College of Astronautics, Beihang University, Beijing 100191, China

摘要

摘要: 折叠翼飞行器在变形过程中,其动力学模型呈现多刚体、多自由度和强非线性特点,同时气动力/力矩、压心、质心和转动惯量等参数也会大幅度变化,严重影响飞行稳定性. 由此,本论文将对飞行器的多刚体动力学建模与变形稳定控制进行研究.基于凯恩方法建立了折叠翼飞行器的多刚体动力学模型,并从中得到了变形所产生的附加力和力矩表达式.通过气动计算拟合出气动参数与折叠角之间的函数关系,由此分析了不同折叠角速度下飞行器的纵向动态特性, 结果表明,折叠翼飞行器变形过程中速度、高度和俯仰角均会发生变化,飞行器无法保持稳定飞行.为此提出了一种基于自抗扰理论的飞行器变形过程中的稳定控制方法.将折叠翼飞行器纵向非线性动力学模型中存在的非线性项、耦合项以及参数时变项都视为系统内外总扰动,利用扩张状态观测器对总扰动进行实时估计和补偿, 针对补偿后的系统设计PD控制器,实现了速度通道和高度通道的解耦控制.通过Lyapunov稳定性原理证明了系统的稳定性, 并进行数学仿真验证. 仿真结果表明,基于自抗扰理论设计的稳定控制器能够解决飞行器变形所带来的强非线性和参数时变等问题,保证飞行器的高精度稳定控制.
- 折叠翼飞行器 /
- 多刚体动力学建模 /
- 扩张状态观测器 /
- 稳定控制
Abstract: During the deformation process, the dynamic modeling of the folding-wing aircraft presents the characteristics of multi-rigid、multi-degree of freedom and strong nonlinearity. At the same time, parameters such as aerodynamics/torque, pressure center, centroid and moment of inertia will also change greatly, which will seriously affect Flight stability. Therefore, this paper will mainly study the multi-rigid dynamics modeling and deformation stability control of the folding wing aircraft. The multi-rigid dynamic model of the folding wing aircraft is established based on the Kane method with the additional force and moment expressions. The functional relationship between the aerodynamic parameters and the folding angle is fitted through aerodynamic calculations. and the longitudinal dynamic characteristics of the aircraft at different folding angular speeds are analyzed. It is shown that the speed, height and pitch angle of the folding wing aircraft will change during the deformation process by analyzing the longitudinal dynamic characteristics, and the aircraft cannot maintain stable flight. A stability control method is proposed for the deformation process of the folding-wing aircraft based on the active disturbance rejection control theory. The nonlinear terms, coupling terms and parameter time-varying terms are regarded as the total internal and external disturbances in the longitudinal nonlinear dynamic model of the folding-wing aircraft, using the extended state observer to estimate and compensate the total disturbance in real time. The PD controller is proposed for compensated systems to realize decoupling control of speed channel and height channel. The stability of the system is proved by Lyapunov stability theory, and mathematical simulation is used to verified the stability of the folding wing aircraft. The simulation results show that the stability controller based on the active disturbance rejection control theory can solve the problems of strong nonlinearity and time-varying parameters caused by aircraft deformation, and ensure the high-precision and stable control of the aircraft.
- folding-wing aircraft /
- multi-rigid body dynamics modeling /
- extended state observer /
- stability control

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