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Adaptive inversion control system and method for rigid body aircraft attitude angle stabilization

A technology of inversion control and attitude angle, applied in attitude control, control/regulation system, non-electric variable control, etc., can solve problems such as limited angular velocity, model uncertainty, and difficulty in controlling the attitude angle of rigid-body aircraft

Active Publication Date: 2021-03-09
中国人民解放军海军航空大学青岛校区
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Problems solved by technology

Model uncertainty, external disturbances, actuator failures, limited angular velocity of the attitude angle, and limited output of the actuator make it difficult to control the attitude angle of the rigid-body aircraft. The existing methods of attitude angle control mainly use adaptive sliding mode control, H∞ robust control and other methods are the main methods. The existing methods have the following disadvantages: they need to know the precise structural information of the uncertainty, and they cannot deal with the problem of limited angular velocity at the same time.

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  • Adaptive inversion control system and method for rigid body aircraft attitude angle stabilization
  • Adaptive inversion control system and method for rigid body aircraft attitude angle stabilization
  • Adaptive inversion control system and method for rigid body aircraft attitude angle stabilization

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Embodiment

[0167] Step 1, initialize the rigid body aircraft attitude motion model 100 parameters, set the initial moment external interference factors inertia matrix Actuator Performance Additional Faults Actuator Performance Partial Failure Fault The initial angular velocity ω(0)=[0,0,0] of the attitude angle of the rigid-body aircraft (including pitch angle, roll angle, and heading angle) T rad / s, the attitude motion equation of the rigid body aircraft is:

[0168]

[0169] where J(t)∈R 3×3 is the inertia matrix determined by the mass distribution of the rigid body vehicle, which is uncertain or unknown, J(t)∈R 3×3 is a symmetric positive definite matrix;

[0170] ω=[ω 1 ,ω 2 ,ω 3 ] T ∈ R 3×1 is the angular velocity of the attitude angle of the rigid body aircraft;

[0171] ω × is a skew symmetric matrix of ω, and it has the form

[0172] u=[u 1 ,...,u 3 ] T ∈ R 3×1 is the limited torque output by the actuator;

[0173] f p ∈ R 3×3 and F a ∈ R 3×3 They...

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Abstract

The invention particularly discloses an adaptive inversion control system and method for rigid body aircraft attitude angle stabilization, and the system comprises an actuator module, a rigid body aircraft attitude motion model, an angular velocity calculation module of a virtual attitude angle, a command filter, a compensation signal module, a compensation error calculation module, and an extended state observer, a parameter adaptive law module. The method comprises a rigid body aircraft attitude and angular velocity inversion control method. Compared with the prior art, the system and the method have the advantages that accurate structure information of uncertainty factors of the rigid body aircraft does not need to be known, and when model uncertainty, external interference, actuator faults, angular velocity limitation of attitude angles and actuator output limitation exist, the attitude angle of the rigid aircraft is controlled.

Description

technical field [0001] The invention belongs to the technical field of rigid-body aircraft control, and in particular relates to an adaptive inversion control system and method for stabilizing the attitude angle of a rigid-body aircraft. Background technique [0002] At present, there are few studies on the stability of the attitude angle of rigid-body aircraft under the condition of model uncertainty, external disturbance, actuator failure and actuator output limitation, especially the attitude angle of rigid-body aircraft under the condition that the angular velocity of the attitude angle is also limited. Stability is rarely studied. Model uncertainty, external disturbances, actuator failures, limited angular velocity of the attitude angle, and limited output of the actuator make it difficult to control the attitude angle of the rigid-body aircraft. The existing methods of attitude angle control mainly use adaptive sliding mode control, H∞ robust control and other methods...

Claims

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Application Information

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IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/101
Inventor 程春华李林韩强欧阳寰王超勇吕鑫燚马海洋杨明绪毕嗣民郝东升
Owner 中国人民解放军海军航空大学青岛校区
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