级联式预设性能动态逆解耦直接升力着舰控制

Cascaded comprehensive direct lift control law based on prescribed performance dynamic inversion for carrier landing

摘要:

为在下滑着舰过程中,克服“反区”操纵特性,减轻飞行员操纵负担,提升着舰精度和安全性,将直接升力方法引入着舰控制律设计,发挥其响应速度快、控制精度高、解耦性能好等优点。采用预设性能的非线性动态逆方法和控制分配算法相结合的控制架构设计了两层级联式综合直接升力着舰控制器,既可以实现纵向轨迹和姿态控制间的解耦,还可以实现横航向控制与纵向运动间的解耦。首先,建立了舰载机全量六自由度非线性模型作为研究对象；然后,通过设置虚拟中间控制量将动态逆与控制分配环节有机地衔接,通过预设误差向量约束方程的方法提升动态逆控制环节的综合控制性能,据此设计出级联式纵、航向综合解耦的直接升力控制器；最后,仿真验证所设计的直接升力控制器可以在保持迎角和速度稳定的情况下调整飞行轨迹高度,实现纵向轨迹控制和姿态控制的解耦；还可以在对中控制的时候,保持纵向高度稳定,实现横航向运动和纵向运动的解耦。研究表明,采用直接升力控制可以实现飞行员操纵到控制变量间的逐一对应,显著减轻操纵负担并提升下滑着舰控制精度。

Abstract:

To overcome the characteristic of “backhoe”, reduce the burden of pilots control, and improve the accuracy and safety of carrier landing, the direct lift control method with the characteristics of quick response and high accuracy, is introduced into the carrier landing control law. A two-level integrated landing controller is designed with the combination of prescribed performance nonlinear dynamic inversion and control allocation algorithm, which considers the decoupling not only between longitudinal trajectory control and attitude control but (also) between horizontal control and longitudinal motion. Firstly, the 6-DoF nonlinear model of aircraft is established. Then the dynamic inverse loop is connected with the control allocation loop organically by setting the intermediate virtual control vector. Meanwhile, the control performance of the dynamic inverse control loop is improved by prescribing the error vector constraint equation. Finally, the simulation results show that the designed direct lift controller can adjust the vertical path while keeping the angle of attack and flight speed stable, and allow the aircraft keep the altitude while aligning with the center line. This study indicates that the designed direct lift control system can achieve a one-by-one correspondence between pilot maneuvers and control variables, improve the efficiency of trajectory control in carrier landing, and greatly reduce the burden of pilot.