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Full-mode self-adaptive control method for composite helicopter

A technology of self-adaptive control and mode control, applied in the direction of self-adaptive control, general control system, control/regulation system, etc., can solve problems such as the inability to guarantee robustness, and improve the command tracking ability, anti-interference ability, and convergence. Good, enhance the effect of stability

Pending Publication Date: 2022-06-24
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

[0005] The purpose of the invention of the present invention is to address the deficiencies in the background technology, to propose a compound helicopter full-mode adaptive control method, based on the incremental dynamic inversion (Incremental dynamic inversion, INDI) control framework, using Pi-Sigma neural network adaptive compensation Incremental dynamic inverse control error ensures the stability, rapidity and robustness of the control system, and solves the technical problem that the existing PSNN adaptive fuzzy controller cannot guarantee the robustness of convergence under the full-mode flight of the compound helicopter

Method used

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  • Full-mode self-adaptive control method for composite helicopter
  • Full-mode self-adaptive control method for composite helicopter
  • Full-mode self-adaptive control method for composite helicopter

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Embodiment Construction

[0065] In order to facilitate the understanding of those skilled in the art, the present invention is further described below with reference to the accompanying drawings.

[0066] like figure 1 The shown structural block diagram of a compound helicopter full-mode adaptive control method includes the following four steps.

[0067] Step 1. Establish a compound helicopter non-affine nonlinear dynamic system, which is represented by two subsystems:

[0068]

[0069]

[0070] In formula (1) and formula (2), x 1 is the state vector of the velocity loop of the non-affine nonlinear dynamical system, x 2 is the state vector of the attitude loop of the non-affine nonlinear dynamic system, x 1 =[u,v,w], u,v,w represent the three velocity components under the body coordinate axis system, x 2 =[p,q,r], p,q,r represent the three angular velocity components under the body coordinate axis system, represents the state vector x of a non-affine nonlinear dynamical system 1 ,x 2 the...

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Abstract

The invention discloses a full-mode adaptive control method for a combined helicopter, and belongs to the technical field of calculation, reckoning or counting. According to the method, full-mode flight control of the composite helicopter is realized based on the incremental dynamic inverse method, the Pi-Sigma neural network is adopted to adaptively compensate the incremental dynamic inverse control error, and the stability, rapidity and robustness of the control system are ensured through Lyapunov stability analysis.

Description

technical field [0001] The invention relates to a compound helicopter control technology, and specifically discloses a compound helicopter full-mode self-adaptive control method, which belongs to the technical field of calculation, calculation or counting. Background technique [0002] In recent years, in the command and tracking control of complex multi-modal aircraft such as tilt-rotor aircraft, near-space vehicles, and hypersonic vehicles, there have been many excellent methods for reference to solve similar problems. Among these advanced control methods, Artificial Neural Networks (ANN) adaptive control is an effective method to deal with complex disturbances and model uncertainties of multimodal aircraft. ANNs have the ability to approximate continuous nonlinear functions. One advantage of neural networks is the reduction in required memory and computation time compared to simple table lookup methods. Furthermore, neural networks can provide interpolation between train...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 郑峰婴沈志敏熊博威许梦园范涛陈宇昂
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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