涵道式无人飞行器建模与控制方法研究
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摘要
涵道式无人飞行器是一种特种无人飞行器，它的动力来源于风扇置于环形涵道内所构成的推力或者升力装置。与普通固定翼及旋翼式无人飞行器相比，它具有以下优点：更紧凑的结构，更低的气动噪声，更好的使用安全性，在同样功率相同直径条件下，与孤立风扇相比会产生更大的拉力。因此，它具有广泛的应用前景。
由于涵道式无人飞行器独特的气动外形，其建模和控制方法设计都面临着诸多挑战。本文针对这种涵道式无人飞行器动力学建模复杂，模型存在严重的不确定性及机体容易受到外界环境干扰等问题设计了控制器。本文研究的主要内容包括以下几个方面：
首先，文章介绍了涵道式无人飞行器的总体构形及设计参数。综合国内外相关文献，结合滑流理论，叶素理论及动量理论对涵道风扇的动力学特征进行了详细的分析。采用面元法分析了舵面的偏转角度与压力分布的关系，再运用刚体力学的相关知识对此无人飞行器进行建模，得到飞行器的非线性动力学方程和运动学方程，最后，运用工作点附近小扰动线性化的方法对上述方程进行简化，给出线性化的飞行器模型。
第二，针对涵道式无人飞行器模型存在不确定性，负载容易发生变化及容易受到外界侧风等众多因素干扰的特点，分别提出了一种状态反馈控制器和输出反馈控制器设计方法，使飞行控制系统既能满足干扰抑制指标约束条件，又能将闭环极点配置到指定区域内。并且以线性矩阵不等式的形式，给出了满足设计要求的控制器存在条件，并进行了稳定性的分析与证明。数值仿真实验说明，这种控制方法对侧风干扰及负载变化具有良好的鲁棒稳定性和令人满意的动态性能。
第三，由于涵道式无人飞行器的工作环境复杂，针对其可能出现的执行器故障和传感器故障方面的问题，本文提出了一种-D稳定化鲁棒容错控制方法，使得飞行器在执行器或传感器发生故障仅能部分工作时，飞行器的闭环极点依然能限定在某一指定的区域内，并且满足干扰抑制指标约束条件。以线性矩阵不等式的形式给出了控制器存在的条件并给出相关证明。数值仿真实验说明，这种控制方法在涵道式无人飞行器工作环境剧烈变化，导致执行器或传感器发生故障时依然能够满足性能指标要求。
第四，针对飞行器模型存在的非线性不确定性，提出了一种将自适应控制和滑模变结构控制相结合的控制方法，充分考虑了各轴之间的耦合作用，通过滑模变结构控制使系统对不确定因素具有较强的鲁棒性和抗干扰能力。引入自适应控制，对系统参数进行在线辨识，实时调节控制器的参数，消除系统参数的不确定性对控制精度的影响。同时在设计切换函数时引入跟踪误差的积分项，不需要求得跟踪误差的各阶导数项，并且可以消除系统的稳态误差，通过合理的选取切换函数的趋近律，有效的抑制了系统的抖振。通过数值仿真实验，说明了这种方法对于涵道式无人飞行器系统存在的非线性不确定性有较好的抑制作用，并且控制性能要优于普通的滑模变结构控制方法。最后设计了飞行器的轨道控制律，验证了飞行器在巡航阶段的姿态控制及抗干扰能力。
Ducted fan UAV (unmanned aerial vehicle) is a special unmanned aircraft,whose power comes from the thrust or lift device composed of the fan beingplaced inside the ring duct. Compared with ordinary fixed-wing and rotary-wingUAV, it has the following advantages: more compact construction, loweraerodynamic noise, better security, and greater thrust than the isolated fan in thesame power and diameter. Therefore, it has wider application prospect. Sinceducted fan UAV unique aerodynamic shape, its modeling and control designmethods are faced with many challenges. This ducted fan UAV dynamicsmodeling is complex, and the model has serious uncertainty. On the other hand,the vehicle body can be interfered easily by external environment. This paperconsiders the following problems.
First, this paper introduces ducted fan UAV overall configuration and designparameters. Combined with flow theory, blade theory and momentum theory, theducted fan’s dynamic characteristics is analyzed. Using the panel method analysesthe relationship between the control surface deflection angle and pressuredistribution. Then rigid-body dynamical model is derived with the knowledge ofrigid-body dynamics. This can also give vehicle’s nonlinear dynamic equation andkinematics equation. Finally, the above equations can be simplified by smallperturbations linearization method, and thus the linearized aircraft model can begiven.
Second, the model of ducted fan UAV has serious uncertainty and its loadlikely changes. Meanwhile the vehicle body can be interfered easily by crosswind.To solve the problems above, the state feedback controller and output feedbackcontroller are designed. These controllers can help the flight control system meetthe interference suppression indicator constraints, and make the closed-loop polesbe configured into the designated area. The existense conditions of thesecontrollers is given in the form of linear matrix inequalities. The stability analysisand proof are given. The results of numerical simulations show that, this controlmethod has good robust stability to crosswind interference and load change, andsatisfactory dynamic performance.
Third, for the complex work environment, the ducted fan UAV actuators andsensors might fail possibly. This paper designs-D stabilization robust fault-tolerant controller, which can ensure the closed-loop poles be configured into thedesignated area, and the flight control system meet the interference suppress ionindicator constraints, in the actuator or sensor failure (only part of work). Theexistense conditions of this controller are given in the form of linear matrixinequalities. The results of numerical simulations show that, this control methodcan still meet the performance requirements, in the actuator or sensor failure dueto the change of vehicle work environment.
Finally, an adaptive sliding mode control theory is used to control formultiple-input and multiple-output nonlinear system. Considering the couplingbetween the axes, using sliding mode control can give system strong robustnessand anti-interference ability to uncertainties. Using adaptive control can identifysystem parameters online, and adjust controller parameters in real time. Therebyit can eliminate the affect from the parameter uncertainty. Using the integral termof the tracking error in switching function design can avoid obtaining all-orderderivatives terms of tracking signal. And it can eliminate the steady-state error ofthe system. Selecting rationally reaching law of the switch function can inhibiteffectively the chattering of the system. The results of numerical simulations showthat, this method has good inhibition to the nonlinear uncertainties of ducted fanUAV system. The trajectory control law is designed for the ducted fan UAV. Therobustness of control system is tested in example path with the crosswind.
由于涵道式无人飞行器独特的气动外形，其建模和控制方法设计都面临着诸多挑战。本文针对这种涵道式无人飞行器动力学建模复杂，模型存在严重的不确定性及机体容易受到外界环境干扰等问题设计了控制器。本文研究的主要内容包括以下几个方面：
首先，文章介绍了涵道式无人飞行器的总体构形及设计参数。综合国内外相关文献，结合滑流理论，叶素理论及动量理论对涵道风扇的动力学特征进行了详细的分析。采用面元法分析了舵面的偏转角度与压力分布的关系，再运用刚体力学的相关知识对此无人飞行器进行建模，得到飞行器的非线性动力学方程和运动学方程，最后，运用工作点附近小扰动线性化的方法对上述方程进行简化，给出线性化的飞行器模型。
第二，针对涵道式无人飞行器模型存在不确定性，负载容易发生变化及容易受到外界侧风等众多因素干扰的特点，分别提出了一种状态反馈控制器和输出反馈控制器设计方法，使飞行控制系统既能满足干扰抑制指标约束条件，又能将闭环极点配置到指定区域内。并且以线性矩阵不等式的形式，给出了满足设计要求的控制器存在条件，并进行了稳定性的分析与证明。数值仿真实验说明，这种控制方法对侧风干扰及负载变化具有良好的鲁棒稳定性和令人满意的动态性能。
第三，由于涵道式无人飞行器的工作环境复杂，针对其可能出现的执行器故障和传感器故障方面的问题，本文提出了一种-D稳定化鲁棒容错控制方法，使得飞行器在执行器或传感器发生故障仅能部分工作时，飞行器的闭环极点依然能限定在某一指定的区域内，并且满足干扰抑制指标约束条件。以线性矩阵不等式的形式给出了控制器存在的条件并给出相关证明。数值仿真实验说明，这种控制方法在涵道式无人飞行器工作环境剧烈变化，导致执行器或传感器发生故障时依然能够满足性能指标要求。
第四，针对飞行器模型存在的非线性不确定性，提出了一种将自适应控制和滑模变结构控制相结合的控制方法，充分考虑了各轴之间的耦合作用，通过滑模变结构控制使系统对不确定因素具有较强的鲁棒性和抗干扰能力。引入自适应控制，对系统参数进行在线辨识，实时调节控制器的参数，消除系统参数的不确定性对控制精度的影响。同时在设计切换函数时引入跟踪误差的积分项，不需要求得跟踪误差的各阶导数项，并且可以消除系统的稳态误差，通过合理的选取切换函数的趋近律，有效的抑制了系统的抖振。通过数值仿真实验，说明了这种方法对于涵道式无人飞行器系统存在的非线性不确定性有较好的抑制作用，并且控制性能要优于普通的滑模变结构控制方法。最后设计了飞行器的轨道控制律，验证了飞行器在巡航阶段的姿态控制及抗干扰能力。
Ducted fan UAV (unmanned aerial vehicle) is a special unmanned aircraft,whose power comes from the thrust or lift device composed of the fan beingplaced inside the ring duct. Compared with ordinary fixed-wing and rotary-wingUAV, it has the following advantages: more compact construction, loweraerodynamic noise, better security, and greater thrust than the isolated fan in thesame power and diameter. Therefore, it has wider application prospect. Sinceducted fan UAV unique aerodynamic shape, its modeling and control designmethods are faced with many challenges. This ducted fan UAV dynamicsmodeling is complex, and the model has serious uncertainty. On the other hand,the vehicle body can be interfered easily by external environment. This paperconsiders the following problems.
First, this paper introduces ducted fan UAV overall configuration and designparameters. Combined with flow theory, blade theory and momentum theory, theducted fan’s dynamic characteristics is analyzed. Using the panel method analysesthe relationship between the control surface deflection angle and pressuredistribution. Then rigid-body dynamical model is derived with the knowledge ofrigid-body dynamics. This can also give vehicle’s nonlinear dynamic equation andkinematics equation. Finally, the above equations can be simplified by smallperturbations linearization method, and thus the linearized aircraft model can begiven.
Second, the model of ducted fan UAV has serious uncertainty and its loadlikely changes. Meanwhile the vehicle body can be interfered easily by crosswind.To solve the problems above, the state feedback controller and output feedbackcontroller are designed. These controllers can help the flight control system meetthe interference suppression indicator constraints, and make the closed-loop polesbe configured into the designated area. The existense conditions of thesecontrollers is given in the form of linear matrix inequalities. The stability analysisand proof are given. The results of numerical simulations show that, this controlmethod has good robust stability to crosswind interference and load change, andsatisfactory dynamic performance.
Third, for the complex work environment, the ducted fan UAV actuators andsensors might fail possibly. This paper designs-D stabilization robust fault-tolerant controller, which can ensure the closed-loop poles be configured into thedesignated area, and the flight control system meet the interference suppress ionindicator constraints, in the actuator or sensor failure (only part of work). Theexistense conditions of this controller are given in the form of linear matrixinequalities. The results of numerical simulations show that, this control methodcan still meet the performance requirements, in the actuator or sensor failure dueto the change of vehicle work environment.
Finally, an adaptive sliding mode control theory is used to control formultiple-input and multiple-output nonlinear system. Considering the couplingbetween the axes, using sliding mode control can give system strong robustnessand anti-interference ability to uncertainties. Using adaptive control can identifysystem parameters online, and adjust controller parameters in real time. Therebyit can eliminate the affect from the parameter uncertainty. Using the integral termof the tracking error in switching function design can avoid obtaining all-orderderivatives terms of tracking signal. And it can eliminate the steady-state error ofthe system. Selecting rationally reaching law of the switch function can inhibiteffectively the chattering of the system. The results of numerical simulations showthat, this method has good inhibition to the nonlinear uncertainties of ducted fanUAV system. The trajectory control law is designed for the ducted fan UAV. Therobustness of control system is tested in example path with the crosswind.
引文
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