面向多阶段的无尾飞行器力矩控制分配方法研究

为满足不同飞行阶段对无尾飞行器气动性能的不同要求,提出一种多目标控制分配方法。首先,建立无尾飞行器非仿射舵效模型,对无尾飞行器控制分配问题进行数学描述。然后,提出增量式非线性控制分配方法。其次,对增量形式的次级性能指标与加权形式的综合性能指标进行构建。最后,基于有效集二次规划方法对多目标非线性控制分配问题进行求解,并进行仿真验证。在仿真场景中,与最小舵偏算例相比,最小阻力算例平均阻力系数降低了36.96%,最大升力算例平均升力系数增大了7.76%。实验结果证明了控制分配方法能在满足力矩分配误差最小的条件下,有效实现最小舵偏、最小阻力与最大升力等不同次级目标。

Multi-Stage-Oriented Moment Control Allocation Method for Tailless Aerial Vehicle

In order to meet the different requirements of aerodynamic performance for Tailless Aerial Vehicle at different flight stages, this paper proposes a multi-objective control allocation method. Firstly, a TAV non-affine rudder effect model is established to mathematically describe the TAV control allocation problem, an incremental nonlinear control allocation method is proposed and its convergence is proved out. And then, the incremental form of the secondary performance indicators. Finally, the multi-objective nonlinear control allocation problem is solved by the effective set quadratic programming method, and simulated for verification. In the simulation scenario of this paper, compared with the minimum rudder deflection case, the average drag coefficient of the minimum drag case is reduced by 36.96%, and the average lift coefficient of the maximum lift case is increased by 7.76%.The experimental results show that the control allocation method can effectively achieve different sub-objectives such as minimum rudder deflection, minimum drag and maximum lift under conditions of minimum moment allocation error.