Robust H-infinity-based variable-gain decoupling control method

A technology of decoupling control and variable gain, applied in the field of automatic control

Active Publication Date: 2015-12-23
BEIHANG UNIV
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Problems solved by technology

However, for aircraft systems with strong coupling and large uncertainties, the description and improvement of decoupling per

Method used

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  • Robust H-infinity-based variable-gain decoupling control method
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Embodiment Construction

[0012] refer to figure 1 , the present invention is based on a robust H ∞ The specific implementation of the variable gain decoupling control method comprises the following steps:

[0013] Step 1, considering the dynamic process of the speed, angle of attack and track angle of the aircraft, establish a longitudinal dynamic model such as formula (1), which has the characteristics of nonlinear, strong coupling, multivariate and uncertain.

[0014]

[0015]

[0016]

[0017] where, λ=λ * +xcosψ / R E , R=R E +h, And V, μ, α, q, x, h are flight speed, pitch track angle, angle of attack, pitch angular velocity, flight distance and flight height, respectively. f x ,F z is the generalized force derived from aerodynamic forces and thrust, dF x ,dF z is the elastic mode and the disturbance force caused by the external disturbance. In addition, the mass of the aircraft m, the acceleration of gravity g, the angular velocity of the earth's rotation ω E , the earth's ...

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Abstract

The invention discloses a robust H-infinity-based variable-gain decoupling control method. The objective of the invention is to solve the technical problem of little possibility to realize inter-channel decoupling control in wide-range flight of an aircraft. The method includes the following steps that: a longitudinal dynamics model of the aircraft is provided, wherein the model is characterized in nonlinearity, strong coupling, multi-variable performance and uncertainty; a decomposition problem of an original system is transformed to a robust H-infinity problem of an uncertain linear parameter-varying error system through variable decomposition and along-the-time path-varying linearization; the robust H-infinity problem of the uncertain linear parameter-varying error closed-loop system is transformed into a robust H-infinity problem of a corresponding certain system, and the convex polyhedron form of a system matrix can be obtained through adopting a tensor product model; and a limited number of linear matrix inequalities are solved based on the robust H-infinity theory, so that a variable-gain robust decoupling controller can be obtained. With the controller adopted, approximate decoupling of the system can be realized, and the approximate decoupling degree can be measured by the performance index gamma of H-infinity.

Description

technical field [0001] The present invention relates to a robust H ∞ The variable gain decoupling control method of the invention is mainly applied to the decoupling control that can autonomously adjust control parameters when an aircraft with parameter uncertainties and external disturbances flies in a wide range, and belongs to the field of automatic control technology. Background technique [0002] The basic goal of decoupled control problems is to design a controller such that each output variable of a multivariable control system is completely controlled by only one input variable, and different outputs are controlled by different inputs. In the existing decoupling control methods, the nonlinear dynamic inverse has been widely used in dealing with nonlinear systems. This method obtains the desired dynamic characteristics by means of cancellation, and cooperates with the design of the outer loop controller to effectively solve the problem of Its robustness issues, such ...

Claims

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Application Information

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IPC IPC(8): G05B13/04G05D1/10
Inventor 贾英民苏小峰王晓云
Owner BEIHANG UNIV
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