平面两自由度变形机翼的动力学建模与控制

doi:10.3969/j.issn.1000-1093.2012.10.007

兵工学报 ›› 2012, Vol. 33 ›› Issue (10): 1194-1201.doi: 10.3969/j.issn.1000-1093.2012.10.007

平面两自由度变形机翼的动力学建模与控制

史榕颀，宋建梅，张明亮

(北京理工大学飞行器动力学与控制教育部重点实验室, 北京 100081)

收稿日期:2011-10-20 修回日期:2011-10-20 上线日期:2014-03-04
作者简介:史榕颀(1985—)，女，博士研究生
基金资助:
北京理工大学科技创新计划重大项目培育专项计划项目(国库_(2 2050205）CX01002)

Dynamic Modeling and Control of an In-plane 2-DOF Morphing Wing

SHI Rong-qi， SONG Jian-mei， ZHANG Ming-liang

(Key Laboratory of Dynamics and Control of Flight Vehicle, Beijing Institute of Technology, Beijing 100081， China)

Received:2011-10-20 Revised:2011-10-20 Online:2014-03-04

摘要/Abstract

摘要： 研究一种两自由度平面变形机翼的动力学建模与控制问题。采用分析力学Lagrange方法建立了变形机翼多刚体动力学模型，模型考虑了机翼前缘所受到的空气动力载荷和外部弹性蒙皮等因素。由于变形机翼是一个强耦合、冗余驱动的非线性多输入多输出系统，采用伪逆法设计冗余驱动系统的控制分配器，采用动态逆方法实现系统精确线性化及两自由度的解耦控制，并与传统PID方法相结合构成了冗余驱动变形机翼的控制系统。通过ADAMS动力学仿真，对所建立的动力学方程进行了模型验证，并通过Matlab控制系统仿真，测试了系统的控制性能。研究结果表明，将Lagrange方法、伪逆法、动态逆控制、传统PID方法相结合可以有效解决平面两自由度冗余驱动变形机翼的动力学与控制的基本问题。

关键词: 自动控制技术, 变形机翼, Lagrange方程, 冗余驱动, 伪逆法, 动态逆

Abstract: The dynamic equation of the morphing wing was obtained based on Lagrange method of analytical mechanics. The skin elastic forces and the aerodynamic load acting on the leading edge were taken into account. Since the morphing wing was a strongly coupled, over-actuated nonlinear system with multi-input and multi-output, a control system of the morphing wing, including control allocator, dynamic inversion controller and PID controllers, was designed. The control allocator was obtained by the pseudo inverse method; the dynamic inversion controller was applied to make the original system decoupled into two independent linear systems; two classical PID controllers were adopted for the linearlized systems. The mathematical model of the morphing wing was verified via ADAMS simulation. The control system was tested by system simulation using Matlab. The results show that the combination of Lagrange equation, pseudo inverse allocation, dynamic inversion control and classical PID method can effectively solve the dynamic modeling and control problems of the in-plane 2-DOF morphing wing.

中图分类号:

V279

史榕颀，宋建梅，张明亮. 平面两自由度变形机翼的动力学建模与控制[J]. 兵工学报, 2012, 33(10): 1194-1201.

SHI Rong-qi， SONG Jian-mei， ZHANG Ming-liang. Dynamic Modeling and Control of an In-plane 2-DOF Morphing Wing[J]. Acta Armamentarii, 2012, 33(10): 1194-1201.

参考文献

［1］陆宇平, 何真, 吕毅. 变体飞行器技术[J]. 航空制造技术, 2008, (22): 26-29.
LU Yu-ping, HE Zhen, LV Yi. Morphing aircraft technology[J]. Aeronautical Manufacturing Technology, 2008, (22): 26-29. (in Chinese)
［2］ Flanagan1 J S, Strutzenberg R C, Myers R B, et al. Development and flight testing of a morphing aircraft, the NextGen MFX-1[C]∥48th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference. Honolulu: AIAA, 2007: 1707.
［3］ Andersen G R, Cowan D L, Piatak D J. Aeroelastic modeling, analysis and testing of a morphing wing structure[C]∥48th AIAA/ASME/ASCE/ AHS/ASC Structures, Structural Dynamics, and Materials Conference. Honolulu: AIAA, 2007: 1734.
［4］ Joo J J, Sanders B. Optimal location of distributed actuators within an In-plane multi-cell morphing mechanism[J]. Journal of Intelligent Material Systems and Structures, 2009, (20): 481-492.
［5］王镜镜, 陆宇平. 变形机翼作动器位置优化算法的研究[C]∥中国制导、导航与控制学术会议. 上海:中国航空学会, 2010: 87-91.
WANG Jing-jing, LU Yu-ping. Optimist algorithm of actuators locations in morphing wing mechanism[C]∥China Guidance, Navigation and Control Conference. Shanghai: Chinese Society of Aeronautics and Astronautics, 2010: 87-91. (in Chinese)
［6］ Johnson T, Frecker M, Abdalla M, et al. Nonlinear analysis and optimization of diamond cell morphing wings[J]. Journal of Intelligent Material Systems and Structures, 2009, (20): 815-824.
［7］ Westfall J T, Canfield R A, Joo J J, et al. Multi-disciplinary optimization of a distributed actuation system in a flexible morphing wing[C]∥48th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference. Honolulu: AIAA, 2007: 1715.
［8］ Brendan O’Grady. Multi-objective optimization of a three cell morphing wing substructure[D]. Dayton: University of Dayton, 2010.
［9］范金华, 马建军, 郑志强, 等. 基于控制分配的过驱动系统稳定性设计方法综述[J]. 系统仿真学报, 2010, 22(增刊1): 7-11.
FAN Jin-hua, MA Jian-jun, ZHENG Zhi-qiang, et al. An overview of stability design methods for overactuated systems based on control allocation[J]. Journal of System Simulation, 2010, 22(S1): 7-11.(in Chinese)
［10］曲小宇, 章卫国, 严谨, 等. 不动点法在飞控系统控制分配中的应用[J]. 计算机仿真, 2009, 26(9): 66-69.
QU Xiao-yu, ZHANG Wei-guo, YAN Jin, et al. Application of fixed-point method in control allocation of flight control system[J]. Computer Simulation, 2009, 26(9): 66-69.(in Chinese)
［11］ Ur Rehman O, Fidan B, Peterson I. Uncertainty modeling for robust multivariable control synthesis of hypersonic flight vehicle[C]∥16th AIAA/DLR/DGLR International Space Planes and Hypersonic System and Technologies Conference. Bremen: AIAA, 2009: 7288.

[1]	刘真畅，唐胜景，李梦婷，王肖，郭杰. 固定翼垂直起降无人机过渡机动优化控制分配研究[J]. 兵工学报, 2019, 40(2): 314-325.
[2]	齐晓慧, 李杰, 韩帅涛. 基于BP 神经网络的自适应自抗扰控制及仿真[J]. 兵工学报, 2013, 34(6): 776-782.
[3]	刘立栋, 张宇文. 基于浮力补偿的水下无人平台低速状态最优控制研究[J]. 兵工学报, 2013, 34(5): 644-648.
[4]	赵伟, 阮健, 李胜, 裴翔. 液压弹射机构动力系统研究[J]. 兵工学报, 2013, 34(4): 459-464.
[5]	吴跃飞, 马大为, 乐贵高. 控制受限的火箭炮位置伺服系统鲁棒自适应反步控制[J]. 兵工学报, 2013, 34(4): 477-483.
[6]	张西勇, 王树宗, 李宗吉. 基于变结构的水下航行体航行姿态控制系统设计方法[J]. 兵工学报, 2013, 34(3): 301-309.
[7]	胡坤, 张孝芳, 刘常波. 基于遗传算法的无人水下航行器深度自抗扰控制[J]. 兵工学报, 2013, 34(2): 217-222.
[8]	闵超波, 张俊举, 常本康, 刘磊, 孙斌. Kalman 滤波和 PI 控制融合的光电转台控制方法研究[J]. 兵工学报, 2013, 34(10): 1334-1340.
[9]	高强, 侯润民, 杨国来, 毛斌, 侯远龙. 基于分数阶神经滑模的某顶置火炮调炮控制[J]. 兵工学报, 2013, 34(10): 1311-1317.
[10]	彭富明, 方斌. 含死区和饱和的非线性系统 PID 控制器设计[J]. 兵工学报, 2013, 34(10): 1298-1303.
[11]	房新鹏, 严卫生. 双领航多自主水下航行器移动长基线定位最优队形研究[J]. 兵工学报, 2012, 33(8): 1020-1024.
[12]	闫之峰，马晓军，魏曙光，王静，袁东. 交流全电炮控改进型空间矢量脉宽调制[J]. 兵工学报, 2012, 33(7): 816-821.
[13]	陈福红, 马大为, 杨必武, 朱忠领. 火箭炮交流伺服系统全局滑模控制[J]. 兵工学报, 2012, 33(6): 641-646.
[14]	郭亚军，王晓锋，马大为，胡健. 全局自适应模糊反步控制在火箭炮伺服系统中的应用[J]. 兵工学报, 2012, 33(6): 658-662.
[15]	仲崇亮，丁亚林，付金宝. 神经网络预测控制的航空相机前向像移补偿方法研究[J]. 兵工学报, 2012, 33(6): 706-711.

平面两自由度变形机翼的动力学建模与控制

Dynamic Modeling and Control of an In-plane 2-DOF Morphing Wing

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价