A Dynamic Control Allocation Method for Stratospheric Airship Based on Four-vector Propeller

Abstract

A method for dynamic control assignment of a stratospheric airship based on four-vector propellers, the steps are as follows: (1) Determine the state space equation of the airship; (2) Specify the desired pitch angle θc and desired roll angle φc; and specify the desired speed. (3) Calculating the error formula between the current state and the desired state; (4) Using feedback linearization to obtain the state feedback control law; (5) Calculating the pseudo-instruction; (6) Calculating the expected control command u; (7) Pseudo-inverse distribution; Determine the initial control efficiency matrix; (eight) set the position constraint and speed constraint of the actuator; calculate R1, R2; (nine) determine the weight matrix W1, W2, W3; calculate the control command u′(1), u′(2 ); (10) Use the 2-norm of the error between u′(t), u′(t-T), u′(t-2T) and the control input u(t) with disturbance after dynamic control assignment as the target function to obtain the control command u′(t); (11) the observer obtains the control efficiency matrix. This method reduces the criticality of key control surfaces, and can redistribute control commands when a fault occurs, improving the safety and reliability of the system.

Description

technical field [0001] The invention provides a dynamic control distribution method for a stratospheric airship based on four-vector propellers, mainly aiming at the dynamic control problem of an overdriven stratospheric airship, and provides a control method that considers actual conditions such as physical constraints of an actuator online and has a fault-tolerant structure, It belongs to the field of automatic control technology. Background technique [0002] The four-vector propeller stratospheric airship is an overdrive model designed to improve airship flight safety, maneuverability and reliability. For the control distribution problem of the overdriven stratospheric airship, the current control methods are based on the generalized inverse method, the chain incremental method, the direct distribution method and the mathematical programming method, which can effectively ensure that each distribution command reaches each actuator, but the above methods are not effective....

AI Technical Summary

Problems solved by technology

For the control assignment of overdriven stratospheric airships, the current control methods are all based on generalized inverse method, chain increment method, direct assignment method and mathematical programming method, which can effectively ensure that each assignment instruction reaches each actuator, but none of the above methods Considering the dynamics of the actuator, when the model is uncertain, it cannot guarantee efficient distribution of control instructions

In fact, as one of the key components affecting the reliability and safety of the flight control system, the actuator is nonlinear and uncertain in a large number of parameters, and it is difficult to establish an accurate mathematical model with conventional methods

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