基于气动特性辨识的折叠翼飞行器可重构控制系统设计

为解决折叠翼飞行器初段飞行中气动特性变化大且易受环境扰动影响、控制鲁棒性要求高的问题，将飞行器物理模型的实时辨识与非线性动态逆方法相结合，设计可重构飞行控制器。基于迭代扩展卡尔曼滤波与渐消记忆最小二乘，将气动特性辨识一步方法分解为状态量和参数值的两步辨识，算法更易于在线实现。通过实时辨识更新动态逆控制器参考模型，消除模型逆误差，实现可重构控制。针对某型折叠翼飞行器的6自由度仿真结果表明，在飞行器自身气动特性大幅变化且考虑外界未知扰动情况下，控制器满足设计要求，具有较强的鲁棒性。

Reconfigurable flight control system design for folding wing air vehicles based on aerodynamic characteristics identification

A reconfigurable flight control system for folding wing air vehicles is described. The approach combines real-time physical model identification with nonlinear dynamic inversion (NDI). It could solve the problem such as severe change of aerodynamic characteristics or influences of atmospheric disturbances during the primary stage of flight, and fulfill the high robustness requirements. The aerodynamic characteristics are identifiedby the two-step method which consists of a separate state estimation step and an aerodynamic coefficients identification step instead of the one step method. The two-step method is based on iterated extended Kalman filter and fading memory least squares method which is easy to achieve online. The sensitivity of NDI to modeling errors is eliminated by making use of an online updated reference model of the air vehicle, then reconfigures for the change in real time. In addition, several nonlinear six degrees-of-freedom flight simulations on the certain type of folding-wing air vehicles have validate the effectiveness and robustness of the designed flight controller under the circumstances of sever change of aerodynamic characteristic and unknown atomospheric disturbances.