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Generalized Actuator Control Assignment and Reconfiguration Method, Device and Related Components

A technology for controlling distribution and actuators, applied in non-electric variable control, control/regulation systems, three-dimensional position/channel control, etc., to achieve the effect of convenient control and reconstruction

Active Publication Date: 2022-02-22
鞠涵
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] The purpose of the present invention is to provide a generalized actuator control distribution and reconfiguration method, device and related components, aiming to solve the problem of rational distribution of each aerodynamic rudder surface and each power system output of a vertical take-off and landing fixed-wing aircraft. Reasonable control assignment and reconfiguration when the actuator is saturated or faulty

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  • Generalized Actuator Control Assignment and Reconfiguration Method, Device and Related Components
  • Generalized Actuator Control Assignment and Reconfiguration Method, Device and Related Components
  • Generalized Actuator Control Assignment and Reconfiguration Method, Device and Related Components

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Embodiment Construction

[0053]The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0054] It should be understood that when used in this specification and the appended claims, the terms "comprising" and "comprises" indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude one or Presence or addition of multiple other features, integers, steps, operations, elements, components and / or collections thereof.

[0055] It should also be understood that the terminology used i...

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Abstract

The embodiment of the present invention discloses a generalized actuator control allocation and reconfiguration method, device and related components, the method includes: receiving multiple instructions v of the target state in the body coordinate system; obtaining the weight of each instruction v , and construct the diagonal weight matrix W v ; Obtain the current navigation state and the input values ​​of narrow-sense actuators, and input them to the aircraft model for linearization processing to obtain the control effectiveness matrix B composed of each generalized actuator; specify the weight of each generalized actuator, and construct a pair of Corner weight matrix W u ;Specify the workable range lb≤x≤ub of each generalized actuator; Transform the constraints of multiple instructions v and the workable range of each generalized actuator into a convex optimization problem based on the effective set to solve, and obtain each generalized actuator The output value x of the actuator. The invention reasonably distributes the output of each aerodynamic rudder surface and each power system of the aircraft, and performs control distribution and reconstruction when the actuator in the narrow sense is saturated or fails.

Description

technical field [0001] The invention relates to the technical field of aircraft navigation and control, in particular to a generalized actuator control distribution and reconfiguration method, device and related components. Background technique [0002] At present, the vertical take-off and landing fixed-wing aircraft has received more and more attention with the rapid development of three electric technologies (electronic control, motor, battery). Since the vertical take-off and landing fixed-wing aircraft not only has a power system that can provide lift, but also has aerodynamic rudder surfaces of the fixed-wing aircraft, the number of actuators that can be controlled increases, and it will be accompanied by For more serious dynamic-pneumatic coupling problems, the system presents stronger nonlinear characteristics, and the difficulty of control increases. [0003] At present, the control method of vertical take-off and landing fixed-wing aircraft that is widely used is ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/10
CPCG05D1/101
Inventor 鞠涵
Owner 鞠涵