自抗擾控制在推力矢量飛機大迎角機動中的應用

摘要: 為實現推力矢量飛機的大迎角機動控制，提出一種基于自抗擾控制的三通道解耦控制策略.以第三代戰機F16公開數據為基礎，添加推力矢量模型，利用雙發推力矢量噴管組合偏轉產生大迎角機動的期望三軸力矩.在縱向、橫向和航向通道分別獨立設計自抗擾控制器，將系統中未建模動態、不確定性以及通道間的強耦合視作總擾動進行估計并補償，并在縱向和航向通道引入角速度阻尼反饋項，使原始飛行器開環動力學閉環近似為一個廣義對象，降低了自抗擾控制器的設計階次.選取眼鏡蛇機動和赫伯斯特機動兩種典型的過失速機動動作進行控制策略驗證，數值仿真結果表明，所設計的三通道獨立自抗擾控制器能夠消除通道間的強耦合，完成推力矢量飛機的大迎角機動控制.蒙特卡羅仿真測試表明，所提控制策略具有較強的魯棒性.
- 推力矢量飛機 /
- 大迎角 /
- 過失速機動 /
- 自抗擾控制 /
- 解耦控制
Abstract: The super maneuverability of aircraft is a key factor determining its success or defeat in air combat. The analysis and control of aircraft post stall maneuvering at a high angle of attack can greatly improve the aircraft maneuverability. When the aircraft performs a high-angle-of-attack maneuver, the aircraft's attack angle far exceeds the stall angle; thus, the aerodynamic and aerodynamic moment characteristics are not only strongly nonlinear but also have delay effects and strong coupling characteristics. Moreover, the linear control method based on the linearization of small disturbance hardly satisfies the control requirement because there is no typical leveling state. Traditional nonlinear control methods include nonlinear dynamic inverse, sliding mode control, and robust control for high-angle-of-attack maneuvering of aircraft. However, these methods rely on the accurate model of the aircraft and are greatly affected by modeling errors. To realize the high-angle-of-attack maneuver control for an aircraft with thrust vector, a three-channel decoupling control strategy based on active disturbance rejection control was proposed herein. Based on the public data of the third-generation fighter F16, a thrust vector model was developed. The desired triaxial moments were generated by the thrust vector nozzle combination. Active disturbance rejection controllers were independently designed in longitudinal, lateral, and heading channels. The unmodeled dynamics, uncertainty, and strong coupling between the channels were regarded as total disturbance, which was estimated and compensated online. The angular rate damping feedback term made the closed-loop dynamics of the original aircraft approximate a generalized object, which reduced the design order of the active disturbance rejection controller. As two typical post-stall maneuvers, Cobra maneuver and Herbst maneuver were selected for control strategy verification. The numerical simulation results show that the designed three-channel independent active disturbance rejection controllers can eliminate the strong coupling among channels and realize a high-angle-of attack maneuver for the aircraft with thrust vector. The Monte Carlo simulation results show that the control strategy has good robustness.
- aircraft with thrust vector /
- high angle of attack /
- post-stall maneuver /
- active disturbance rejection control /
- decoupling control

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圖 1 飛機模型及推力矢量示意圖

Figure 1. Schematic diagram of an aircraft model and thrust vector

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圖 2 大迎角機動三通道自抗擾控制器設計結構

Figure 2. Three-channel ADRC controller design for high-angle-of-attack maneuver

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圖 3 迎角通道自抗擾控制器設計示意圖

Figure 3. ADRC controller design for angle of attack

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圖 4 眼鏡蛇機動.(a) 迎角；(b) 側滑角

Figure 4. Cobra maneuver: (a) angle of attack; (b) sideslip angle

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圖 5 類赫伯斯特機動. (a) 迎角；(b) 側滑角；(c) 滾轉角速度；(d) 繞速度矢滾轉角；(e) 速度；(f) 航跡方位角；(g) 噴管偏轉情況；(h) 機動三維軌跡

Figure 5. Herbst-type maneuver: (a) angle of attack; (b) sideslip angle; (c) roll angular rate; (d) roll angle around the velocity vector; (e) flight speed; (f) velocity heading angle; (g) vector nozzle deflections; (h) trajectory curve

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圖 6 類赫伯斯特機動蒙特卡羅測試.(a) 迎角；(b) 側滑角

Figure 6. Herbst-type maneuver Monte Carlo test: (a) angle of attack; (b) sideslip angle

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