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折叠翼飞行器的动力学建模与稳定控制

宋慧心 金磊

宋慧心, 金磊. 折叠翼飞行器的动力学建模与稳定控制[J]. 力学学报, 2020, 52(6): 1548-1559. doi: 10.6052/0459-1879-20-115
引用本文: 宋慧心, 金磊. 折叠翼飞行器的动力学建模与稳定控制[J]. 力学学报, 2020, 52(6): 1548-1559. doi: 10.6052/0459-1879-20-115
Song Huixin, Jin Lei. DYNAMIC MODELING AND STABILITY CONTROL OF FOLDING WING AIRCRAFT[J]. Chinese Journal of Theoretical and Applied Mechanics, 2020, 52(6): 1548-1559. doi: 10.6052/0459-1879-20-115
Citation: Song Huixin, Jin Lei. DYNAMIC MODELING AND STABILITY CONTROL OF FOLDING WING AIRCRAFT[J]. Chinese Journal of Theoretical and Applied Mechanics, 2020, 52(6): 1548-1559. 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
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

DYNAMIC MODELING AND STABILITY CONTROL OF FOLDING WING AIRCRAFT

  • 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.

     

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出版历程
  • 收稿日期:  2020-04-14
  • 刊出日期:  2020-12-10

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