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航空学报  2013 

基于气动特性辨识的飞行器抗饱和自适应控制

DOI: 10.7527/S1000-6893.2013.0221, PP. 2645-2657

Keywords: 飞行控制,气动扰动,气动特性辨识,自适应控制,非线性模型预测控制,反馈线性化

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Abstract:

针对无人机含有未知气动参数时的大机动飞行控制问题,设计了基于在线气动参数辨识的自适应非线性模型预测控制(ANMPC)的飞行控制器。首先,根据无人机动力学模型设计出基于反馈线性化模型的非线性模型预测控制(NMPC)的飞行控制器,通过在线求解有约束的最优化问题,确保大机动飞行时系统状态及控制输入满足约束条件,使控制系统具备抗饱和性能。然后,将无人机动力学模型中的未知气动参数转换为待辨识参数矩阵,采用基于迭代扩展卡尔曼滤波(IEKF)与渐消记忆最小二乘(RLS)的气动特性辨识两步方法,实时辨识无人机气动参数,更新非线性模型预测控制律所用模型,消除模型误差,增强非线性模型预测控制器的鲁棒性。最后,对指令姿态角跟踪进行了仿真验证,仿真结果表明在考虑外界未知气动扰动情况下,控制器满足设计要求,并具有较强的鲁棒性。

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