基于切换系统理论的变体飞行器姿态控制系统设计研究

The shape of morphing vehicles is adaptively changed according to flight environment and missions. Morphing vehicles meet the demands of aviation transport and state defense, they are regarded as the foundation of next generation aircrafts and thus are worth studying thoroughly. The key of attitude control for morphing vehicles is the full envelope attitude controller design. Therefore, this project first introduces convex analysis and cluster analysis, and models the morphing vehicle as switched polytopic system in detail, to describe the flight dynamics within the full envelope. Afterward, we perform the stability analysis of the morphing vehicle based on the concept of locally overlapped switched system and singular perturbation theory. Using these techniques, we can describe the relation between the flight stability and plant parameters varying rate. Finally, we combine the aforementioned flight stability analysis results and graph theory, and propose an optimal synthesis method for attitude control system design. Different from the conventional method, the proposed method avoids the disadvantage of being hard to adapt fast varying parameters, and provides an open framework for designers to utilize previous design experiences. This project seeks for an efficient and feasible method for designing attitude control system within the full envelope, and founds a solid foundation for primary design of morphing vehicles.

变体飞行器的外形结构可随飞行环境和任务自适应变化，满足空天运输和国土防御作战需求，其有望成为新一代飞行器实现突破性发展的基础，具有十分重要的研究价值。变体飞行器控制系统设计的关键是解决大飞行包线下的姿态控制系统设计问题。为此，本项目首先引入凸包分析和聚类分析，详细地、有层次地建立变体飞行器的切换多胞系统模型，以刻画飞行包线内的动力学特性；而后，基于局部重叠切换系统概念和奇异摄动理论，开展变体飞行器的稳定性分析，定量描述飞行稳定性与参数变化速率之间的关系；最后，结合前述的稳定性分析判据以及图论理论，提出变体飞行器姿态控制系统最优综合方法，规避传统设计方法难以适应参数大范围快速变化的技术局限，提供开放的设计框架，允许工程人员继承以往成熟的设计经验。本项目力求为变体飞行器姿态控制系统设计提供一条高效、可行的途径，为我国变体飞行器控制系统的先期研制奠定良好的理论基础和工程依据。

本项目基于切换系统理论，研究了变体飞行器的建模、控制系统稳定性分析与控制器综合等问题。.在变体飞行器建模方面，推导了变体飞行器非线性模型，并进一步得到变体飞行器切换多胞模型、切换LPV模型以及切换多胞LPV模型，所得模型能很好地刻画变体飞行器物理特性、气动特性与构型的依赖关系。采用局部重叠切换系统描述变体飞行器，保证了切换过程的平滑性。.在变体飞行器稳定性分析方面，首先基于线性切换系统模型，研究了飞行器控制系统有限时间有界、符号稳定、全局稳定及指数稳定的条件。采用模态依赖平均驻留时间方法，充分利用各个子系统的特征，降低了保守性。基于自抗扰控制方法，分析了存在执行机构饱和情况下非线性系统模型的稳定性。.在变体飞行器控制器综合方面，基于切换多胞系统理论、切换LPV系统理论研究了飞行器抗干扰控制、平滑切换控制、故障检测、容错控制与异步切换控制等问题，使得变体飞行器在变形过程中实现姿态的精确跟踪，以及大包线飞行良好的稳定性和鲁棒性。此外，基于自抗扰控制，设计了能够保证系统稳定的抗饱和非线性控制系统，保证了系统的稳定性和鲁棒性。