Nonlinear dynamic inversion for the powered yaw control of distributed electric propulsion aircraft
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摘要:
分布式电推进飞机可通过多推进器间的推力差动来调节飞行姿态，从而为实现动力偏航提供了硬件条件。为此，提出一种基于非线性动态逆的动力偏航控制策略。建立考虑分布式电推进系统推力差动的飞机非线性飞行动力学模型，并基于时标分离原则，将其划分为快状态子系统和慢状态子系统。随后，针对慢状态子系统的非线性特性，设计非线性动态逆控制器实现动力偏航控制，所计算出的滚转、俯仰、偏航速率作为参考指令传递给快状态子系统。快状态子系统控制器同样基于非线性动态逆方法设计，通过调节各分布式推进器间的推力差动，实现对给定滚转、俯仰、偏航速率的跟踪。考虑到分布式电推进系统具有天然的冗余性和容错性，将动力偏航控制策略拓展至了推进器冗余和故障等特殊工况。同时，针对分布式电推进器易受突风、电动机参数变化等扰动影响的问题，设计了基于自抗扰方法的各电推进器本地推力控制器。数值仿真结果表明：该策略可以实现90°动力偏航，并且可以抵抗15 m/s的突风扰动。
Abstract:Distributed electric propulsion aircraft makes it possible for additional control authority by differential thrust, thus giving rise to the concept of powered yaw control. A powered yaw control scheme based on the nonlinear dynamic inversion was proposed. A nonlinear flight dynamic model was established for the distributed electric propulsion, which explicitly considered the effect of differential thrust. Subsequently, according to the time-scale separation principle, this model was divided into two subsystems for the fast and slow dynamics, respectively. An nonlinear dynamic inversion controller was designed for the slow dynamics for the powered control, while the computed roll, pitch, and yaw rate were sent to the fast dynamic sub-system as reference. The fast dynamics controller was also designed using nonlinear dynamic inversion, which realized the tracking of the desired roll, pitch, and yaw rate by adjusting the thrust of multiple electric propulsors. Considering the redundancy and fault-tolerance of distributed electric propulsion system, the powered yaw control strategy was extended to the redundancy and propulsor failure scenarios. Meanwhile, to overcome the effect of gust encounters and changes in motor parameters, the local thrust controller for each electric propulsor was designed in the framework of active disturbance rejection control. The numerical simulation results show that the strategy can achieve 90° powered yaw and resist gust encounter of 15 m/s.
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图 4 分布式电推进飞机动力偏航控制系统结构
Figure 4. Powered yaw control system for the distributed electric propulsion aircraft
图 5 推进器本地双闭环控制系统
Figure 5. Local double-loop thrust controller of an electric propulsor
图 9 动力偏航时非线性动态逆控制器输出推力指令
Figure 9. Thrust commands given by nonlinear dynamic inversion controller during powered yaw
图 11 Cruise 1不参与偏航控制时推进器推力指令
Figure 11. Thrust commands of propulsors when cruise 1 does not participate in the powered yaw control
图 12 HIL2故障下动力偏航时推进器推力指令
Figure 12. Thrust commands of propulsors during powered yaw in the presence of HIL2 failure
图 13 巡航推进器在不同突风下的等效负载
Figure 13. Equivalent loads of cruise propulsors in the presence of different gusts
图 14 高升力推进器在不同突风下的等效负载
Figure 14. Equivalent loads of highlift propulsors in the presence of different gusts
图 16 遭遇前向突风时各推进器负载转矩
Figure 16. Load torque of propulsors in the presence of forward gust
图 17 遭遇后向突风时各推进器负载转矩
Figure 17. Load torque of propulsors in the presence of backward gust
图 20 电动机参数固定时巡航推进器转速
Figure 20. Speed of cruise propulsor with constant motor parameters
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