推力矢量型V/STOL飞行器短距降落控制策略设计

龚正; 李沛晋; 王子安; 周涛; 陈永亮; 曲晓雷

doi:10.13224/j.cnki.jasp.20210718

推力矢量型V/STOL飞行器短距降落控制策略设计

doi: 10.13224/j.cnki.jasp.20210718

龚正^1,,
李沛晋^1,,
王子安^1,*, ,,
周涛¹,
陈永亮¹,
曲晓雷²

1.
南京航空航天大学航空学院非定常空气动力学与流动控制工信部重点实验室，南京 210016
2.
中国航空工业集团有限公司沈阳飞机设计研究所，沈阳 110000

基金项目: 国家自然科学基金（11402115）；江苏高校优势学科建设工程资助项目

详细信息

作者简介:
龚正（1981-），男，博士，主要从事飞机飞行动力学与控制研究

通讯作者:
王子安（1994-），男，博士，主要从事飞机飞行动力学与控制研究。E-mail：wangzian@nuaa.edu.cn

中图分类号: V249.1
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- 被引次数: 0
出版历程
- 收稿日期: 2021-12-17
- 网络出版日期: 2023-01-09

Design of short landing control strategy for thrust-vectored V/STOL aircraft

1.
Ministerial Key Laboratory of Unsteady Aerodynamics and Flow Control， College of Aerospace Engineering， Nanjing University of Aeronautics and Astronautics，Nanjing 210016，China
2.
Shenyang Aircraft Design and Research Institute， Aviation Industry Corporation of China，Limited，Shenyang 110000，China

摘要

摘要:
针对推力矢量型垂直/短距起降（V/STOL）飞行的短距降落（SRVL）过程，进行了纵向动力学建模。基于飞机的减速性能与轨迹、速度稳定性，采用可达平衡集方法，构建了策略参数的边界，制定了参数选取标准，设计一种制定短距降落策略的方法。根据降落策略，分段进行了相应的控制框架建立，内环采用动态逆控制律，并引用一种基于频域尺度的效能分配准则进行控制分配设计。基于蒙特卡洛仿真法，对降落策略的鲁棒性进行了仿真验证，结果表明：针对不同降落阶段的策略参数边界制定方法能够满足该阶段的任务需求，且这些参数边界对短距降落策略制定有着明确的参考意义。以L1自适应控制器作为内环增稳控制器，所设计的短距降落策略使得飞行器在着陆过程中有着良好的轨迹鲁棒性。
- 推力矢量 /
- 短距降落 /
- 可达平衡集 /
- 速度稳定性 /
- 降落策略
Abstract:
A method to design the landing strategy for vertical/short takeoff and landing vehicles (V/STOL) was established for the shipborne rolling vertical landing (SRVL) process. A longitudinal dynamic model of the protype V/STOL aircraft was established, and then the boundaries of the strategy parameters were determined using attainable balance set methods, on the basis of the deceleration performance, trajectory stability and airspeed stability. The criterion of the strategy parameters specification was also given. Then the control scheme of the strategy was piecewise constructed, where the dynamic inverse methods were applied to the inner loop. A frequency-domain-based control allocation criterion was introduced into this architecture to design the control allocator. Finally, this strategy was verified by Monte Carlo simulations for its robustness performance. The results showed that: the formulation method for strategy parameter boundaries of each landing stages satisfied their requirements respectively, and these parameter boundaries had explicit reference significance to the landing strategy formulation. The landing strategy using L1 adaptive theory for inner loop stability augmentation enables the aircrafts to have excellent trajectory robustness performance.
- thrust vector /
- short landing /
- attainable equilibrium set /
- speed stability /
- landing control strategy

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图 1 矢量喷管-升力风扇飞行器模型

Figure 1. Vector nozzle-lift fan aircraft model

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图 2 动力系统示意图

1 升力风扇和辅助电动机动力子系统； 2 主进气道；3 辅助进气道； 4 主涵道风扇和主电动机动力子系统； 5 发动机筒体； 6 滚转喷管； 7 滚转控制调节机构； 8 三轴承矢量喷管。

Figure 2. Diagram of power system

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图 3 计算流程图

Figure 3. Calculation flow chart

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图 4 降落接地时刻飞行状态限制区域

Figure 4. Flight status restricted area at the time of landing ground

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图 5 减速性能分析图

Figure 5. Deceleration performance analysis diagram

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图 6 航迹稳定性分析图（γ=−4°）

Figure 6. Track stability analysis diagram （γ=−4°）

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图 7 航迹倾角分析图（θ=3°）

Figure 7. Track angle analysis diagram （θ=3°）

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图 8 短距降落分段示意图

Figure 8. Schematic diagram of SRVL

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图 9 短距降落策略制定流程图

Figure 9. SRVL strategy flowchart

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图 10 短距降落策略图

Figure 10. SRVL strategy diagram

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图 11 短距降落控制框架图

Figure 11. SRVL control frame diagram

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图 12 控制分配示意图

Figure 12. Control distribution diagram

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图 13 标称状态飞行轨迹仿真结果

Figure 13. Simulation results of flight trajectory at nominal state

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图 14 标称状态飞行状态仿真结果

Figure 14. Flight state simulation results of flight trajectory at nominal state

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图 15 蒙特卡洛仿真结果图

Figure 15. Monte Carlo simulation results diagram

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图 16 飞行器航迹图

Figure 16. Aircraft track map

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表 1 V/STOL飞行器主要参数

Table 1. Main parameters of V/STOL aircraft

参数	数值
质量/kg	13
巡航速度/（m/s）	30
巡航高度/m	<100

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表 2 短距降落控制目标

Table 2. SRVL control target

参数	控制目标
接地速度 ${V_3}$/（m/s）	$\Delta {V_3} \leqslant \pm 1$
落点（${X_{{\rm{lat}}} },{Y_{{\rm{lon}}} }$ ）/m	${\varDelta _{x,y} } < 5$

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表 3 主要参数摄动范围

Table 3. Perturbation range of main parameters

参数	不确定范围/%
升力线斜率	$ \pm 10$
侧力操纵导数	$ \pm 10$
滚转交叉操纵导数	$ \pm 10$
俯仰操纵导数	$ \pm 10$
偏航操纵导数	$ \pm 10$
偏航阻尼导数	$ \pm 10$
x轴重心位置	$ \pm 10$
y轴转动惯量	$ \pm 10$
升力操纵导数	$ \pm 10$
滚转静稳定性导数	$ \pm 10$
滚转阻尼导数	$ \pm 10$
俯仰阻尼导数	$ \pm 10$
偏航交叉操纵导数	$ \pm 10$
阻力操纵导数	$ \pm 10$
俯仰静稳定性导数	$ \pm 10$
z轴转动惯量	$ \pm 10$
侧向静稳定性导数	$ \pm 10$
滚转操纵导数	$ \pm 10$
滚转交叉阻尼导数	$ \pm 10$
偏航静稳定性导数	$ \pm 10$
偏航交叉阻尼导数	$ \pm 10$
升力风扇拉力系数	$ \pm 10$
x轴转动惯量	$\pm 10$

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