A Variable Gain Decoupling Control Method Based on Robust h Infinity

Abstract

The invention discloses a variable gain decoupling control method based on robust H∞, which is used to solve the technical problem that the decoupling control between channels is difficult to realize when the aircraft flies in a large range. This method first gives the longitudinal dynamics model of the aircraft, which has the characteristics of nonlinearity, strong coupling, multivariables and uncertainty; then, through variable decomposition and linearization along the time-varying path, the decoupling problem of the original system is transformed into It is the robust H∞ problem of the uncertain linear variable parameter error system; further, the robust H∞ problem of the uncertain linear variable parameter error closed-loop system is transformed into the robust H∞ problem of the corresponding deterministic system, and the tensor product model is used The conversion method obtains the convex polyhedron form of the system matrix; finally, based on the robust H∞ theory, a finite number of linear matrix inequalities are solved to obtain a robust decoupling controller with variable gain, which can achieve approximate decoupling of the system, and the The degree of approximate decoupling can be measured by the H∞ performance index γ.

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 ...

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Problems solved by technology

However, for aircraft systems with strong coupling and large uncertainties, the description and improvement of decoupling performance, as well as the autonomous adjustment of decoupling controllers under large aircraft envelopes, need further research

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